Mobile load-carrying platform cluster control system and mobile heavy-duty truck loaded with mobile load-carrying platform cluster control system

Abstract

The invention discloses a mobile load platform cluster control system, which belongs to the technical field of load carriers and comprises an upper computer, the upper computer is manually operated and can automatically compile operator commands, convert the operator commands into wireless signals, simultaneously send the wireless signals to wireless penetration modules mounted on a plurality of mobile trucks and transmit the wireless penetration modules to PLCs (Programmable Logic Controller) of the mobile trucks; when the mobile truck receives a signal, the signal is converted into a control signal transmitted to the corresponding motor in the PLC, then the control signal is transmitted to the controller through different ports, and the controller further converts the control signal into a command signal which can be identified by the steering motor, the walking motor or the telescopic piece so that the steering motor, the walking motor or the telescopic piece can work according to a command. The multi-vehicle cooperative steering control system has the advantages that multi-vehicle cooperative steering is controlled at the same time, the automation degree of carrying work is improved, the working efficiency is effectively improved, and the burden of human resources is relieved.

Description

Technical Field

[0001] The present invention relates to the technical field of load-carrying trucks, and in particular, to a mobile load platform cluster control system and a mobile load-carrying truck equipped with the same. Background Art

[0002] The installation of electrical equipment in substations, machine tools in factories, laboratory equipment, etc. is often carried out in a restricted space. Mobile load platforms are used to transfer the above-mentioned equipment during the installation process, mainly including hoisting equipment after hoisting by a hoisting-type overhead crane, a floating air cushion handling platform, a wheeled platform vehicle, etc. Wheeled platform vehicles (mobile load-carrying trucks) are widely used because they occupy less space, are more flexible in movement, and have lower requirements for ground flatness.

[0003] The existing means of handling is mainly to use a mobile load-carrying truck to carry heavy objects to the target position. However, when handling some large or overweight goods, more than one mobile load-carrying truck is needed for towing, and multiple mobile load-carrying trucks need to be controlled.

[0004] Because the turning performance of existing mobile load-carrying truck products is not high, the control of turning by simultaneous differential rotation of the wheel groups of multiple heavy-duty trucks is complex, the turning method is unstable, and the wheels may slip under heavy loads. Therefore, synchronous turning cannot be achieved during load handling, resulting in difficulty in positioning. Due to this defect, most mobile load-carrying truck products are actively controlled by a single vehicle, and the rest are non-powered wheels. Therefore, the turning efficiency during handling is low, and the turning smoothness and positioning accuracy need to be improved. Summary of the Invention

[0005] The present invention aims to solve at least one of the technical problems in the related art to some extent.

[0006] To achieve the above object, in a first aspect of the present invention, a mobile load platform cluster control system is proposed, which uses a new type of cluster control system to synchronously perform various actions, which is beneficial to the turning efficiency and turning smoothness.

[0007] In a second aspect of the present invention, a mobile load-carrying truck is proposed, which is equipped with the mobile load platform cluster control system provided in the first aspect, so that the cluster control system can be fully applied.

[0008] According to the content of the first aspect of the present invention, the technical solution provided by the present invention is: a mobile load platform cluster control system, including a host computer, which is manually operated. The host computer can compile operator commands by itself and convert them into wireless signals, and at the same time send them to the wireless penetration modules installed on multiple mobile load vehicles, and transmit them to the PLC of the mobile load vehicle. After the mobile load vehicle receives the signal and converts it into a control signal transmitted to the corresponding motor in the PLC, it is transmitted to the controller through different ports, and the controller further converts it into command signals recognizable by the steering motor, the traveling motor or the telescopic member, so that they work according to the commands.

[0009] Further, the host computer compiles operator commands by itself and converts them into wireless signals, and at the same time sends them to the wireless penetration modules installed on multiple mobile load vehicles. The wireless signal is an ID signal + a command signal, and the wireless penetration module of the corresponding mobile load vehicle distinguishes whether it needs to receive and execute this command through the ID in front of the command signal.

[0010] Further, by using the wireless signal mode of ID signal + command signal, the host computer can respectively control multiple mobile load vehicles to turn, move forward or backward at the same time; there are three steering modes on the host computer: omnidirectional steering, crab steering and in-situ steering.

[0011] Further, for omnidirectional steering, at least four mobile load vehicles are arranged at the four vertex positions of a rectangle, and a certain point at a certain distance from the rectangle on the side of the rectangle where the four vehicles are located is used as the steering center, and each rotates a certain angle, and the steering angles of the first two vehicles are opposite to those of the last two vehicles. After the steering is completed, the four vehicles drive at the same time;

[0012] When performing omnidirectional steering, the steering angle and speed ratio of each vehicle need to ensure that the axes of all vehicles always intersect at the same steering center to achieve a non-skid turn;

[0013] Let the distance between the first two vehicles be d, the distance between the front vehicle and the rear vehicle be L, and the steering angle of the left front vehicle when turning right be A (-45° to 45°), then the steering angle B of the right front vehicle is:

[0014] ,

[0015] The steering angle C of the left rear vehicle is -A, and the steering angle D of the right rear vehicle is D = -B;

[0016] When turning left, the steering angle of the left front vehicle is A (-45° to 45°), then the steering angle B of the right front vehicle is:

[0017] ,

[0018] The steering angle C of the left rear vehicle is -A, and the steering angle D of the right rear vehicle is D = -B;

[0019] The speed ratio of the left front wheel to the left rear wheel is 1:1, and the speed ratio of the right front wheel to the right rear wheel is 1:1. When turning right, the speed ratio of the two vehicles closer to the steering center to the two wheels farther away is:

[0020] ,

[0021] When turning left, the speed ratio of the two wheels closer to the steering center to the two wheels farther away is:

[0022] .

[0023] Furthermore, crab steering means that multiple mobile load carriers rotate the same angle in the same direction and then drive straight. Crab steering is suitable for passing through angled bends.

[0024] Furthermore, in-situ steering means that after four vehicles stop stably at the positions of the four vertices of a rectangle, they turn according to the rule that "the central axes of the sides of each vehicle intersect at the center of the rectangle". After the steering is completed, the four vehicles drive at the same speed. In-situ steering is suitable for turning around goods or passing through narrow right-angled bends;

[0025] Let the center of the rectangle formed by the four vehicles be the origin (0, 0) of the coordinate system. Given that the distance between the first two vehicles is w and the distance between the front vehicle and the rear vehicle is H, then the coordinates of the left front vehicle are (-w / 2, H / 2), the coordinates of the left rear vehicle are (-w / 2, -H / 2), the coordinates of the right front vehicle are (w / 2, H / 2), and the coordinates of the right rear vehicle are (w / 2, -H / 2); the four vehicles need to adjust the front-end orientation in place until the central axes of the sides of each vehicle intersect at the origin; therefore, the rotation angle of each vehicle is , the left front vehicle and the right rear vehicle turn right, and the right front vehicle and the left rear vehicle turn left;

[0026] The four vehicles have the same speed.

[0027] Furthermore, the PLC on the mobile load carrier has a battery power monitoring function, which can monitor the remaining battery power of the vehicle in real time, and synchronize it to the upper computer through a wireless penetration module and display it; the PLC is also connected to a power display screen, which is placed on the vehicle for observation.

[0028] According to the content of the second aspect of the present invention, the technical solution provided by the present invention is: a mobile load carrier, including a rotating platform, a limiting function component is fixedly connected through the middle of the rotating platform, an internal gear fixing plate is fixedly connected to the upper end of the limiting function component, a telescopic support component is fixedly connected to the middle of the upper end of the internal gear fixing plate, the lower end of the telescopic support passes through the limiting function component vertically and then is connected to a support chassis, a vertical steering drive is fixedly connected to one side of the upper end of the internal gear fixing plate, the lower end power shaft of the steering drive passes through the internal gear fixing plate and then is fixedly connected to a first transmission member, a second transmission member is also fixedly connected to the middle of the upper end of the rotating platform, and the first transmission member is in transmission connection with the second transmission member;

[0029] A traveling mechanism is installed on the circumferential side of the lower end of the rotating platform, and the traveling mechanism can drive the overall movement of the mobile load vehicle;

[0030] The limiting function component has the function of enabling the rotating platform to rotate relative to the inner tooth fixing plate;

[0031] The limiting function component has the function of enabling the rotating platform to move up and down relative to the inner tooth fixing plate.

[0032] In some embodiments, the limiting function component includes a rotating shaft. The vertical cross-section of the rotating shaft is a hollow "J" shape. A rotating bearing is sleeved outside the rotating shaft, and a bearing housing is connected to the outside of the rotating bearing. The bearing housing is fixedly connected to the rotating platform, and the upper end of the rotating shaft is fixedly connected to the inner tooth fixing plate.

[0033] In some embodiments, a bearing outer sleeve is sleeved between the outside of the rotating bearing and the bearing housing, and a bearing inner sleeve is sleeved between the inside of the rotating bearing and the rotating shaft. The bearing outer sleeve can slide up and down between the bearing housing. A limiting retaining ring is also embedded at the lower end inside the bearing housing, and there is a sliding gap between the upper end of the limiting retaining ring and the bearing outer sleeve.

[0034] In some embodiments, a convex ring is provided on the circumferential side of the lower end of the limiting function component. The convex ring is provided at the lower end of the rotating platform, and the convex ring is fixedly connected to the rotating platform through fasteners.

[0035] In some embodiments, a braking component is provided between the upper end of the second transmission part and the inner tooth fixing plate. When the upper end of the braking component contacts the lower end of the inner tooth fixing plate, the relative position between the second transmission part and the inner tooth fixing plate can be kept fixed.

[0036] In some embodiments, the telescopic support component includes a contact plate. The contact plate is horizontally arranged at the upper end of the inner tooth fixing plate. The lower side of the contact plate is fixedly connected to the inner tooth fixing plate through a plurality of support columns. A telescopic member is fixedly connected to the lower end of the contact plate, and the lower end of the telescopic member vertically passes through the limiting function component and then is connected to a support chassis.

[0037] In some embodiments, a telescopic auxiliary member is connected to the lower end of the telescopic member, and the lower end of the telescopic auxiliary member is connected to the support chassis through a support rod.

[0038] In some embodiments, the traveling mechanism includes a driving motor and a first wheel assembly, a second wheel assembly, a third wheel assembly, and a fourth wheel assembly installed on the circumferential edge of the lower end of the rotating platform;

[0039] One end of the output shaft of the drive motor is connected to the first coupling by a key. The other end of the first coupling is connected to the drive shaft of the first wheel assembly by a key. The other end of the drive shaft of the first wheel assembly is connected to a first wheel sprocket by a key. The first wheel sprocket is connected to a second wheel sprocket by a first chain drive. The second wheel sprocket is provided on the drive shaft of the second wheel assembly. The other end of the drive shaft of the second wheel assembly is sequentially connected to the drive shaft of the third wheel assembly through a second coupling, a drive shaft, and a third coupling. The other end of the third drive shaft is sequentially connected to the drive shaft of the fourth wheel assembly through a third wheel sprocket, a second chain, and a fourth wheel sprocket.

[0040] In some embodiments, the first wheel assembly includes a wheel frame. The upper end of the wheel frame is fixedly connected to the lower end of the rotating platform. The wheel frame is rotatably connected to the drive shaft of the first wheel assembly. The structures of the second wheel assembly, the third wheel assembly, and the fourth wheel assembly are the same as that of the first wheel assembly.

[0041] In some embodiments, the first wheel assembly includes a load wheel. A bushing is press-fitted inside the load wheel. The connection between the bushing and the load wheel is an interference fit connection. The inside of the bushing is connected to the drive shaft of the first wheel assembly by a key. The structures of the second wheel assembly, the third wheel assembly, and the fourth wheel assembly are the same as that of the first wheel assembly.

[0042] The advantages of the present invention compared with the prior art are as follows: The telescopic support assembly jacks up the heavy object from the ground, thereby transferring the pressure of the heavy object transmitted to the ground through the wheels. At the same time, the motor and gear fixed on the vehicle body mesh and rotate with the gear indirectly fixed on the jack, achieving the purpose of in-situ steering. Combined with the new mobile load-carrying vehicle steering system, multiple mobile load-carrying vehicles can be controlled simultaneously, improving the positioning accuracy and load-carrying capacity of goods handling, enhancing the automation degree of handling work, effectively improving work efficiency, reducing the burden on human resources, and enhancing safety performance.

[0043] The additional aspects and advantages of the present invention will be partly given in the following description, partly will become obvious from the following description, or be understood through the practice of the present invention. Description of the Drawings

[0044] Figure 1 is the overall schematic diagram of the mobile load-carrying vehicle in the embodiment of the present invention;

[0045] Figure 2 is the bottom view schematic diagram of the mobile load-carrying vehicle in the embodiment of the present invention;

[0046] Figure 3 is the schematic diagram of the steering drive part of the mobile load-carrying vehicle in the embodiment of the present invention;

[0047] Figure 4 is the side view schematic diagram of the steering drive part of the mobile load-carrying vehicle in the embodiment of the present invention;

[0048] Figure 5 Schematic diagram of the connection between the limit function component of the mobile load vehicle in the embodiment of the present invention and the rotating platform;

[0049] Figure 6 Schematic diagram of the limit function component of the mobile load vehicle in the embodiment of the present invention;

[0050] Figure 7 Vertical sectional schematic diagram of the limit function component of the mobile load vehicle in the embodiment of the present invention;

[0051] Figure 8 Schematic diagram of the telescopic support component of the mobile load vehicle in the embodiment of the present invention;

[0052] Figure 9 Side view component of the telescopic support of the mobile load vehicle in the embodiment of the present invention;

[0053] Figure 10 Schematic diagram of the first wheel component of the mobile load vehicle in the embodiment of the present invention;

[0054] Figure 11 Side view schematic diagram of the first wheel component of the mobile load vehicle in the embodiment of the present invention;

[0055] Figure 12 Is Figure 11 Schematic diagram of the A - A cross - section of the first wheel component shown in

[0056] Figure 13 Schematic diagram of the control flow of the cluster control system of the mobile load platform in the embodiment of the present invention;

[0057] Figure 14 Schematic diagram of the power supply system of the cluster control system of the mobile load platform in the embodiment of the present invention;

[0058] Figure 15 Schematic diagram of the connection between the wireless penetration module and the PLC of the cluster control system of the mobile load platform in the embodiment of the present invention;

[0059] Figure 16 Schematic diagram of the connection of the walking motor servo controller of the cluster control system of the mobile load platform in the embodiment of the present invention;

[0060] Figure 17 Schematic diagram of the connection of the steering motor servo controller of the cluster control system of the mobile load platform in the embodiment of the present invention;

[0061] Figure 18 Schematic diagram of the connection of the jack servo controller of the cluster control system of the mobile load platform in the embodiment of the present invention;

[0062] In the attached drawings: 1, rotating platform; 2, limit function component; 3, telescopic support component; 4, second wheel component; 5, fourth wheel component; 6, first wheel component; 7, second chain; 8, transmission shaft; 9, roller chain coupling; 10, drive motor; 11, support chassis; 12, third wheel component; 13, first transmission member; 14, second transmission member; 15, braking member; 16, internal gear fixing plate; 17, steering drive member;

[0063] 21, rotating shaft; 22, bearing housing; 23, inner bearing sleeve; 24, outer bearing sleeve; 25, rotating bearing; 26, convex ring;

[0064] 31, support column; 32, contact plate; 33, telescopic member; 34, telescopic auxiliary member;

[0065] 61, wheel carrier; 62, load-carrying wheel; 63, drive shaft; 64, shaft sleeve; 65, first wheel sprocket; 66, first wheel bearing. Detailed implementation manners

[0066] The following further elaborates on the present invention.

[0067] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. The following embodiments are used to illustrate the present invention but are not intended to limit the scope of the present invention.

[0068] To facilitate the understanding of the relevant actions of the mobile load carrier, this part first describes the structure of the mobile load carrier in the second aspect and the transmission methods of each action.

[0069] An embodiment of the second aspect of the present invention,

[0070] A mobile load carrier, as Figure 1 、 Figure 2 、 Figure 5 shown, a rotating platform 1, a limit function component 2 is fixedly connected through the middle of the rotating platform 1, the convex ring 26 of the bearing housing 22 is fixedly connected to the rotating platform 1 by bolts, the upper end of the rotating shaft 21 is fixedly connected to the internal gear fixing plate 16 by screws, the middle of the upper end of the internal gear fixing plate 16 is fixedly connected to the two support columns 31 of the telescopic support component 3 by screws, and the upper ends of the two support columns 31 are fixedly connected to the contact plate 32 by screws, as Figure 8 、 Figure 9As shown, the contact plate 32 is horizontally arranged above the internal tooth fixing plate 16. A telescopic member 33 (a jack in this embodiment) is fixedly connected to the lower end of the contact plate 32. The lower end of the jack vertically passes through the rotating shaft 21 of the limit function assembly 2 and then is connected to the telescopic auxiliary member 34. The lower end of the telescopic auxiliary member 34 is connected to the support chassis 11 through a support rod. The heavy object on the contact plate 32 can be lifted by the jack.

[0071] Combined with Figure 6 、 Figure 7 As shown, the limit function assembly 2 includes a rotating shaft 21. The vertical cross-section of the rotating shaft 21 is a hollow J shape. A rotating shaft bearing 21 is sleeved outside the rotating shaft 21. A bearing housing 22 is connected to the outside of the rotating shaft bearing 21. The outer convex ring 26 of the bearing housing 22 is fixedly connected to the rotating platform 1 through bolts. A bearing outer sleeve 24 is sleeved between the outside of the rotating shaft bearing 21 and the bearing housing 22. A bearing inner sleeve 23 is sleeved between the inside of the rotating shaft bearing 21 and the rotating shaft 21. The bearing outer sleeve 24 can slide up and down between the bearing housing 22. A limit retaining ring is also embedded at the lower end inside the bearing housing 22. There is a sliding gap between the upper end of the limit retaining ring and the bearing outer sleeve 24;

[0072] Due to the above structure of the limit function assembly 2, the rotating shaft 21 and the bearing housing 22 are rotationally connected. The limit function assembly 2 has the function of enabling the rotating platform 1 to rotate relative to the internal tooth fixing plate 16;

[0073] Due to the above structure of the limit function assembly 2, the bearing outer sleeve 24 can slide up and down between the bearing housing 22, so that the rotating shaft 21 can have the function of sliding up and down relative to the bearing housing 22. Then the limit function assembly 2 has the function of enabling the rotating platform 1 to displace up and down relative to the internal tooth fixing plate 16.

[0074] Combined with Figure 3 、 Figure 4 As shown, a vertical steering drive member 17 (a stepping motor in this embodiment. A stepping motor is a motor that converts an electrical pulse signal into a corresponding angular displacement or linear displacement. For each input pulse signal, the rotor rotates an angle or moves forward one step. Its output angular displacement or linear displacement is proportional to the number of input pulses, and the rotational speed is proportional to the pulse frequency) is fixedly connected to the upper end of one side of the internal tooth fixing plate 16 through bolts. The lower end power shaft of the steering drive member 17 passes through the internal tooth fixing plate 16 and is key-connected to a first transmission member 13 (a small gear in this embodiment). A second transmission member 14 (an external gear ring in this embodiment) is also fixedly connected to the upper end of the middle part of the rotating platform 1. The small gear and the external gear ring are meshed for transmission;

[0075] A braking member 15 (a friction brake pad) is anchored to the upper end of the external gear ring through screws. When the jack is retracted, the lower end of the internal tooth fixing plate 16 presses the friction brake pad to prevent the internal tooth fixing plate 16 from rotating.

[0076] As Figure 2 , Figure 10 , Figure 11 , Figure 12 As shown, a traveling mechanism is installed on the circumferential side of the lower end of the rotating platform 1. The traveling mechanism includes a driving motor 10 and the first wheel assembly 6, the second wheel assembly 4, the third wheel assembly 12, and the fourth wheel assembly 5 installed at the four corners of the lower end of the rotating platform 1;

[0077] The first wheel assembly 6 includes a wheel frame 61. The upper end of the wheel frame 61 is fixedly connected to the lower end of the rotating platform 1 by bolts. The wheel frame 61 is rotationally connected to the drive shaft 63 of the first wheel assembly 6. The drive shaft 63 is connected to the shaft sleeve 64 by a key. The shaft sleeve 64 is pressed into the load-carrying wheel 62. An interference fit exists between the shaft sleeve 64 and the load-carrying wheel 62. The structures of the second wheel assembly 4, the third wheel assembly 12, and the fourth wheel assembly 5 are the same as that of the first wheel assembly 6.

[0078] The right output shaft end of the driving motor 10 is connected to the first coupling by a key (in this embodiment, the first coupling, the second coupling, and the third coupling are all roller chain couplings 9). The other end of the first coupling is connected to the drive shaft 63 of the first wheel assembly 6 by a key. The other end of the drive shaft 63 of the first wheel assembly 6 is connected to a first sprocket 65 by a key. The first sprocket 65 is connected to the second sprocket by a first chain in a transmission manner. The second sprocket is arranged on the drive shaft 63 of the second wheel assembly 4. The other end of the drive shaft 63 of the second wheel assembly 4 is sequentially connected to the drive shaft 63 of the third wheel assembly 12 through the second coupling, the transmission shaft 8, and the third coupling. The other end of the third drive shaft 63 is sequentially connected to the drive shaft 63 of the fourth wheel assembly 5 through the third sprocket, the second chain 7, and the fourth sprocket.

[0079] The mechanical actions of the mobile load-carrying vehicle in this embodiment when traveling in a straight line are as follows:

[0080] The driving motor 10 rotates. The right output shaft thereof drives the drive shaft 63 and the load-carrying wheel 62 of the first wheel assembly 6 connected thereto through the roller chain coupling 9 to rotate. At the same time, it drives the first sprocket 65 to rotate. The first sprocket 65 drives the first chain, and the first chain drives the second sprocket above to rotate, thereby driving the drive shaft 63 and the heavy-duty wheel of the second wheel assembly 4 to rotate. Then, it drives the third wheel assembly 12 to rotate to the left through the roller chain coupling 9 and the transmission shaft 8. Similarly, it drives the fourth wheel assembly 5 through the transmission manner of the second chain 7, so as to drive this example to travel in a straight line.

[0081] When the mobile load-carrying vehicle in this embodiment needs to turn or make a U-turn:

[0082] Example 1: First, control the mobile load vehicle in this example to stop moving. Then, control the jack to work and extend the support rod downward. The lower end of the support rod touches the ground by supporting the chassis 11, providing an upward reaction force to the jack. The jack drives the contact plate 32, the support column 31, and the internal gear fixing plate 16 fixedly connected thereto to rise upward.

[0083] The internal gear fixing plate 16 rises and separates from the friction brake pad. The internal gear fixing plate 16 is fixedly connected to the rotary shaft 21. Thus, the internal gear fixing plate 16 drives the rotary shaft 21 to rise. The annular platform protruding downward from the rotary shaft 21 jacks up the inner bearing sleeve 23, the rotary shaft bearing, and the outer bearing sleeve 24. The outer bearing sleeve 24 slides upward a short distance within the bearing housing 22. At this time, the weight of the heavy object on the contact plate 32 is transferred to the telescopic support assembly 3, and the traveling mechanism no longer bears the weight of the heavy object (only bears its own weight and the weight of the rotating platform 1).

[0084] The second transmission member 14 (external gear ring) meshes with the first transmission member 13 (pinion). The pinion is connected to the output end of the stepping motor fixedly connected to the internal gear fixing plate 16. Control the stepping motor to work, drive the pinion and the external gear ring to rotate. The external gear ring drives the rotating platform 1 to rotate, and the traveling mechanism fixed on the rotating platform 1 rotates with the rotation of the rotating platform 1, thereby achieving the function of reversing (assuming the rotating platform 1 itself is a coordinate system and the ground is another reference coordinate system. During the steering process, the state of the jack head in the ground coordinate system is rising, the coordinates of each wheel set in the coordinate system of the rotating platform 1 remain unchanged, and the action of the coordinate system of the rotating platform 1 in the reference coordinate system is to rise first, then reverse, and finally descend).

[0085] After the reversing is completed, the jack retracts the support rod. After the heavy-duty wheels touch the ground, the support chassis 11 disengages from the ground upward. The internal gear fixing plate 16 descends and contacts the friction brake pad to prevent the internal gear fixing plate 16 and the components thereon from turning uncontrollably by themselves.

[0086] Example 2: The difference from Example 1 is that after the jack jacks up and the outer bearing sleeve 24 slides upward a short distance within the bearing housing 22, control the jack to continue to jack up, and the rotating platform 1 and the traveling mechanism fixedly connected to its lower end are both lifted completely off the ground. At this time, the steering is carried out.

[0087] The second transmission member 14 (outer gear ring) meshes with the first transmission member 13 (pinion gear) for transmission. The pinion gear is connected to the output end of the stepping motor fixedly connected to the internal gear fixing plate 16. By controlling the operation of the stepping motor, the pinion gear and the outer gear ring are driven to rotate. The outer gear ring drives the rotating platform 1 to rotate, and the traveling mechanism fixed on the rotating platform 1 rotates with the rotation of the rotating platform 1, thereby achieving the function of reversing (assuming that the rotating platform 1 itself is a coordinate system and the ground is another reference coordinate system. During the steering process, the state of the jack head in the ground coordinate system is rising, the coordinates of each wheel set in the coordinate system of the rotating platform 1 remain unchanged, and the movement of the coordinate system of the rotating platform 1 in the reference coordinate system is to rise first, then reverse, and finally descend).

[0088] After the reversing is completed, the jack retracts the support rod. After the heavy-duty wheels contact the ground, the support chassis 11 is supported to move upward away from the ground, and the internal gear fixing plate 16 descends to contact the friction brake pads to prevent the internal gear fixing plate 16 and the components thereon from turning uncontrollably by themselves.

[0089] Summary: The mobile load carriers in the above embodiments can all lift the vehicle by the jacks fixed on the load platform to transfer the load or suspend the wheels. At the same time, the motors and gears fixed on the vehicle body mesh and rotate with the gears indirectly fixed on the jacks to achieve the purpose of turning in place.

[0090] Embodiments of the first aspect of the present invention:

[0091] In the embodiments of the first aspect of the invention, the orientation words such as "front, rear" are the "front, rear" relative to the forward direction of the mobile load carrier. The orientation word "a certain direction" used to describe the steering function usually refers to the clockwise or counterclockwise direction when viewed from above. The orientation words "up, down" used to describe the support function usually refer to the "up, down" relative to the gravity direction when the jack is in use.

[0092] A mobile load platform cluster control system, taking the control of four mobile load carriers as an example, as Figure 13 shown, the upper computer is manually operated. The upper computer can compile the operator's commands by itself and convert them into wireless signals, and at the same time send them to the wireless penetration modules installed on multiple mobile load carriers and transmit them to the PLC of the mobile load carrier. The wireless signal is an ID signal + command signal, and its own ID is defined inside the mobile load carrier to realize the identification of the commands of the upper computer for different mobile load carriers. The wireless penetration module of the corresponding mobile load carrier distinguishes whether it needs to receive and execute this command through the ID in front of the command signal; after the mobile load carrier receives the signal and converts it into a control signal transmitted to the corresponding motor in the PLC, it is transmitted to the controller through different ports, and the controller further converts it into a PWM wave signal recognizable by the steering motor, the traveling motor or the telescopic member 33 so that they work according to the commands.

[0093] Combined Figure 14 As shown, the power supply system is powered by a 48V battery pack. The 48V battery pack is connected to the fuse box through a connector, a single-phase air switch, and an emergency stop button. The fuse box has three output terminals, namely a 48V output terminal, a 24V conversion output terminal, and a 12V conversion output terminal.

[0094] Combined Figure 15 、 Figure 16 As shown, the 48V output terminal is connected to the traveling motor (i.e., the drive motor 10 in the first aspect);

[0095] Combined Figure 15 、 Figure 17 As shown, the 24V output terminal is connected to the wireless penetration module, the PLC, the slewing motor (i.e., the steering drive member 17 in the first aspect), the slewing motor servo controller, and the traveling motor encoder;

[0096] Combined Figure 18 As shown, the 12V output terminal is connected to the jack (i.e., the telescopic member 33 in the first aspect) and its controller.

[0097] A touch screen is provided on the upper computer. The touch screen of the upper computer displays the operation commands of the four vehicles on the same interface. According to the wireless signal mode of the ID signal + command signal, the upper computer can control the four vehicles to move simultaneously, or can control some of the vehicles to move individually, which is determined by the operator pressing the button himself.

[0098] The upper computer can control the four mobile load-carrying vehicles to steer, travel, etc. simultaneously. The speed interface can select the forward or reverse of three gear speeds, or several mobile load-carrying vehicles can be specified to travel simultaneously.

[0099] The upper computer can control the jacks of the four mobile load-carrying vehicles to support upwards or move the goods downwards by several centimeters simultaneously, or can control the jacks of the specified mobile load-carrying vehicle to support upwards or move downwards by several centimeters individually. When performing the support or lowering action, the indicator light beside the mobile load-carrying vehicle performing the action on the touch screen of the upper computer will change the display state to prompt the operator.

[0100] The steering interface can specify the corresponding mobile load-carrying vehicle to steer in a specified direction at a specified speed, or the four vehicles can be selected to steer in the ways of "omnidirectional steering", "crab steering", and "in-situ steering".

[0101] For omnidirectional steering, at least four mobile load-carrying vehicles are arranged at the four vertex positions of a rectangle. Taking a certain point at a certain distance from the rectangle on the side of the rectangle where the four vehicles are located as the steering center, after the jacks lift the heavy objects, the slewing motors of each mobile load-carrying vehicle control their respective bodies to rotate a certain angle, and the steering angles of the first two vehicles are opposite to those of the last two vehicles. After the steering is completed, the four vehicles travel simultaneously;

[0102] When performing omnidirectional steering, the steering angles and speed ratios of each vehicle must ensure that the axes of all vehicles always intersect at the same steering center to achieve skid-free turning;

[0103] Let the distance between the first two vehicles be d, the distance between the front vehicle and the rear vehicle be L, and the steering angle of the left front vehicle during right turn be A (-45° to 45°). Then the steering angle B of the right front vehicle is:

[0104] ,

[0105] The steering angle C of the left rear vehicle is -A, and the steering angle D of the right rear vehicle is D = -B;

[0106] When turning left, if the steering angle of the left front vehicle is A (-45° to 45°), then the steering angle B of the right front vehicle is:

[0107] ,

[0108] The steering angle C of the left rear vehicle is -A, and the steering angle D of the right rear vehicle is D = -B;

[0109] The speed ratio of the left front wheel to the left rear wheel is 1:1, and the speed ratio of the right front wheel to the right rear wheel is 1:1. During right turn, the speed ratio of the two vehicles closer to the steering center to the two wheels farther away is:

[0110] ,

[0111] During left turn, the speed ratio of the two wheels closer to the steering center to the two wheels farther away is:

[0112] .

[0113] For crab steering, after multiple mobile load carriers come to a stop, the jacks lift the heavy object and the vehicle body, the slewing motor drives the vehicle body to rotate in the same direction by the same angle, and then the jacks are retracted and the vehicle moves straight. Crab steering is suitable for turning through angled bends.

[0114] For in-place steering, after the four vehicles stop at the positions of the four vertices of a rectangle, they turn according to the rule that "the central axes of the sides of each vehicle intersect at the center of the rectangle". After the turn is completed, the vehicles move at the same speed. In-place steering is suitable for turning around goods or passing through narrow right-angled bends;

[0115] Let the center of the rectangle formed by the four vehicles be the origin of the coordinate system (0, 0). Given that the distance between the first two vehicles is w and the distance between the front vehicle and the rear vehicle is H, then the coordinates of the left front vehicle are (-w / 2, H / 2), the coordinates of the left rear vehicle are (-w / 2, -H / 2), the coordinates of the right front vehicle are (w / 2, H / 2), and the coordinates of the right rear vehicle are (w / 2, -H / 2); the four vehicles need to adjust the orientation of their front ends in place until the central axes of the sides of each vehicle intersect at the origin; therefore, the rotation angle of each vehicle is , the front left vehicle and the rear right vehicle turn right, and the front right vehicle and the rear left vehicle turn left;

[0116] And the speeds of the four vehicles need to be the same.

[0117] The PLC on the mobile load vehicle has a battery power monitoring function, which can monitor the remaining power of the battery on the vehicle in real time, and synchronize it to the host computer through the wireless penetration module and display it; the PLC is also connected to a power display screen, which is placed on the vehicle for observation.

[0118] In summary, the mobile load platform cluster control system in this embodiment combined with the mobile load vehicle can effectively improve the turning efficiency and enhance the turning stability.

[0119] In the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0120] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and purposes of the present invention, and the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A mobile load-bearing platform cluster control system, characterized in that It includes a host computer, which is manually operated. The host computer can compile operator commands by itself and convert them into wireless signals, and at the same time send them to the wireless penetration modules installed on multiple mobile load-carrying vehicles and transmit them to the PLC of the mobile load-carrying vehicle. After the mobile load-carrying vehicle receives the signal and converts it into a control signal transmitted to the corresponding motor in the PLC, it is transmitted to the controller through different ports, and the controller further converts it into a command signal recognizable by the steering motor, the traveling motor or the telescopic member so that they work according to the command.

2. The mobile load-bearing platform cluster control system according to claim 1, wherein: The host computer compiles operator commands by itself and converts them into wireless signals, and at the same time sends them to the wireless penetration modules installed on multiple mobile load-carrying vehicles. The wireless signal is an ID signal + a command signal, and the wireless penetration module of the corresponding mobile load-carrying vehicle distinguishes whether it needs to receive and execute this command through the ID in front of the command signal.

3. The mobile load platform cluster control system according to claim 2, characterized in that: By using the wireless signal mode of ID signal + command signal, the host computer can control multiple mobile load-carrying vehicles to turn, move forward or backward simultaneously; there are three steering modes on the host computer: omnidirectional steering, crab steering and in-situ steering.

4. The mobile load-bearing platform cluster control system according to claim 3, characterized in that: The omnidirectional steering is that at least four mobile load-carrying vehicles are arranged at the four vertex positions of a rectangle. Taking a certain point at a certain distance from the rectangle on the side of the rectangle where the four vehicles are located as the steering center, they rotate by a certain angle respectively, and the steering angles of the first two vehicles are opposite to those of the last two vehicles. After the steering is completed, the four vehicles drive simultaneously; When performing omnidirectional steering, the steering angle and speed ratio of each vehicle need to ensure that the axes of all vehicles always intersect at the same steering center to achieve a non-skid turn; Let the distance between the first two vehicles be d, the distance between the front vehicle and the rear vehicle be L, and the steering angle of the left front vehicle when turning right be A (-45° to 45°), then the steering angle B of the right front vehicle is: ， The steering angle C of the left rear vehicle is -A, and the steering angle D of the right rear vehicle is D = -B; When turning left, the steering angle of the left front vehicle is A (-45° to 45°), then the steering angle B of the right front vehicle is: ， The steering angle C of the left rear vehicle is -A, and the steering angle D of the right rear vehicle is D = -B; The speed ratio of the left front wheel to the left rear wheel is 1:1, and the speed ratio of the right front wheel to the right rear wheel is 1:

1. When turning right, the speed ratio of the two vehicles closer to the steering center to the two wheels farther away is: ， When turning left, the speed ratio of the two wheels closer to the steering center to the two wheels farther away is: 。 5. The mobile load-bearing platform cluster control system according to claim 3, wherein: Crab steering is that multiple mobile load-carrying vehicles rotate by the same angle in the same direction and then drive straight. Crab steering is suitable for turning through a corner.

6. The mobile load-bearing platform cluster control system according to claim 3, wherein: In-situ steering is that after the four vehicles stop stably according to the positions of the four vertices of the rectangle, they turn according to the rule that "the central axes of the sides of each vehicle intersect at the center of the rectangle". After the steering is completed, the vehicles drive at the same speed. In-situ steering is suitable for turning around goods or passing through a narrow right-angle bend; Let the center of the rectangle formed by the four vehicles be the origin (0, 0) of the coordinate system. Given that the distance between the first two vehicles is w and the distance between the front vehicle and the rear vehicle is H, the coordinates of the left front vehicle are (-w / 2, H / 2), the coordinates of the left rear vehicle are (-w / 2, -H / 2), the coordinates of the right front vehicle are (w / 2, H / 2), and the coordinates of the right rear vehicle are (w / 2, -H / 2); the four vehicles need to adjust the orientation of their vehicle heads in place until the central axes of the sides of each vehicle intersect at the origin; therefore, the rotation angle of each vehicle is , the left front vehicle and the right rear vehicle turn right, and the right front vehicle and the left rear vehicle turn left; The speeds of the four vehicles are the same.

7. The mobile load platform cluster control system according to claim 1, characterized in that: The PLC on the mobile load-carrying vehicle has a battery power monitoring function, which can monitor the remaining power of the battery on the vehicle in real time, and synchronize it to the host computer through the wireless penetration module and display it; the PLC is also connected to a power display screen, which is placed on the vehicle for observation.

8. A mobile heavy vehicle, characterized in that, Loaded with the mobile load platform cluster control system described in any one of claims 1-7, including a rotating platform (1), a limiting function component (2) is fixedly connected through the middle of the rotating platform (1), an internal tooth fixing plate (16) is fixedly connected to the upper end of the limiting function component (2), a telescopic support component (3) is fixedly connected to the middle of the upper end of the internal tooth fixing plate (16), the lower end of the telescopic support member vertically passes through the limiting function component (2) and then is connected to a support chassis (11), a vertical steering drive member (17) is fixedly connected to one side of the upper end of the internal tooth fixing plate (16), the lower end power shaft of the steering drive member (17) passes through the internal tooth fixing plate (16) and then is fixedly connected to a first transmission member (13), a second transmission member (14) is also fixedly connected to the middle of the upper end of the rotating platform (1), and the first transmission member (13) is in transmission connection with the second transmission member (14); A traveling mechanism is installed on the peripheral side of the lower end of the rotating platform (1), and the traveling mechanism can drive the whole mobile load vehicle to move; The limiting function component (2) has the function of enabling the rotating platform (1) to rotate relative to the internal tooth fixing plate (16); The limiting function component (2) has the function of enabling the rotating platform (1) to move up and down relative to the internal tooth fixing plate (16).

9. The mobile load carrier according to claim 8, wherein: The limiting function component (2) includes a rotating shaft (21), the vertical section of the rotating shaft (21) is in a hollow J shape, a rotating shaft bearing (21) is sleeved outside the rotating shaft (21), a bearing housing (22) is connected to the outside of the rotating shaft bearing (21), the bearing housing (22) is fixedly connected to the rotating platform (1), and the upper end of the rotating shaft (21) is fixedly connected to the internal tooth fixing plate (16); A bearing outer sleeve (24) is sleeved between the outside of the rotating shaft bearing (21) and the bearing housing (22), a bearing inner sleeve (23) is sleeved between the inside of the rotating shaft bearing (21) and the rotating shaft (21), the bearing outer sleeve (24) can slide up and down between the bearing housing (22), and a limiting retaining ring is also embedded at the lower end inside the bearing housing (22), and there is a sliding gap between the upper end of the limiting retaining ring and the bearing outer sleeve (24); A convex ring (26) is provided on the peripheral side of the lower end of the limiting function component (2), the convex ring (26) is arranged at the lower end of the rotating platform (1), and the convex ring (26) is fixedly connected to the rotating platform (1) through a fastener; A braking member (15) is provided between the upper end of the second transmission member (14) and the internal tooth fixing plate (16), and when the upper end of the braking member (15) contacts the lower end of the internal tooth fixing plate (16), the relative position between the second transmission member (14) and the internal tooth fixing plate (16) can be kept fixed; The telescopic support assembly (3) includes a contact plate (32), the contact plate (32) is horizontally arranged at the upper end of the internal gear fixing plate (16), the lower end of the side of the contact plate (32) is fixedly connected to the internal gear fixing plate (16) through a plurality of support columns (31), the lower end of the contact plate (32) is fixedly connected with a telescopic member (33), and the lower end of the telescopic member (33) vertically passes through the limiting function assembly (2) and then is connected with a support chassis (11); The lower end of the telescopic member (33) is connected with a telescopic auxiliary member (34), and the lower end of the telescopic auxiliary member (34) is connected with the support chassis (11) through a strut.

10. The mobile load vehicle according to claim 8, characterized in that: The traveling mechanism includes a driving motor (10) and a first wheel assembly (6), a second wheel assembly (4), a third wheel assembly (12) and a fourth wheel assembly (5) installed on the lower peripheral edge of the rotating platform (1); One end of the output shaft of the driving motor (10) is connected to a first coupling through a key, the other end of the first coupling is connected to the driving shaft (63) of the first wheel assembly (6) through a key, the other end of the driving shaft (63) of the first wheel assembly (6) is connected to a first sprocket (65) through a key, the first sprocket (65) is connected to a second sprocket through a first chain drive, the second sprocket is arranged on the driving shaft (63) of the second wheel assembly (4), the other end of the driving shaft (63) of the second wheel assembly (4) is sequentially connected to the driving shaft (63) of the third wheel assembly (12) through a second coupling, a transmission shaft (8), and a third coupling, and the other end of the third driving shaft (63) is sequentially connected to the driving shaft (63) of the fourth wheel assembly (5) through a third sprocket, a second chain (7), and a fourth sprocket; The first wheel assembly (6) includes a wheel frame (61), the upper end of the wheel frame (61) is fixedly connected to the lower end of the rotating platform (1), the wheel frame (61) is rotationally connected to the driving shaft (63) of the first wheel assembly (6), and the structures of the second wheel assembly (4), the third wheel assembly (12) and the fourth wheel assembly (5) are the same as those of the first wheel assembly (6); The first wheel assembly (6) includes a load-carrying wheel (62), a bushing (64) is press-fitted inside the load-carrying wheel (62), the bushing (64) is connected to the load-carrying wheel (62) by an interference fit connection, the inside of the bushing (64) is connected to the driving shaft (63) of the first wheel assembly (6) through a key, and the structures of the second wheel assembly (4), the third wheel assembly (12) and the fourth wheel assembly (5) are the same as those of the first wheel assembly (6).

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