Low-energy-consumption port container AGV / IGV electro-hydraulic control system and method

Abstract

A low-energy-consumption port container AGV / IGV electro-hydraulic control system and method. The system comprises an AGV / IGV vehicle body (100), and a drive axle (7), a steering electro-hydraulic servo power unit (1), a parking brake electro-hydraulic power unit (2) and an electro-hydraulic system controller (3) which are arranged on the AGV / IGV vehicle body (100). The steering electro-hydraulic servo power unit (1) comprises a frequency conversion / servo motor and a bidirectional high-pressure hydraulic pump, the frequency conversion / servo motor driving the bidirectional high-pressure hydraulic pump, and the bidirectional high-pressure hydraulic pump being connected to the driving axle (7). The parking brake electro-hydraulic power unit (2) comprises a motor, a one-way high-pressure hydraulic pump and a brake (10), the motor driving the one-way high-pressure hydraulic pump, the one-way high-pressure hydraulic pump being connected to the brake (10), and the brake (10) being connected to the driving axle (7). The electro-hydraulic system controller (3) controls the steering electro-hydraulic servo power unit (1) and the parking brake electro-hydraulic power unit (2).

Description

Low-energy-consumption port container AGV / IGV electro-hydraulic control system and method Technical Field

[0001] The present invention relates to container AGV / IGV technology, and more particularly to a low-energy-consumption port container AGV / IGV electro-hydraulic control system and method. Background Art

[0002] Against the backdrop of widespread automation and the dual-carbon strategy, energy consumption limits on port equipment are becoming increasingly stringent. Greater energy conservation and efficiency will be the inevitable development trend of port equipment in the future.

[0003] Currently, the hydraulic system of AGVs / IGVs still uses a classic centralized oil supply hydraulic system, where the pump station and actuator are connected by long pipelines, and the actuators are controlled by hydraulic valves to complete the movement. Although this classic centralized oil supply hydraulic transmission and control system reduces investment costs, it also has problems such as heavy weight, multiple pipelines, high energy consumption, complex troubleshooting, and large construction workload. Technical issues

[0004] In view of the above-mentioned defects in the prior art, the purpose of the present invention is to provide a low-energy-consumption port container AGV / IGV electro-hydraulic control system and method to achieve the purpose of energy saving and consumption reduction of the hydraulic system on the AGV / IGV trolley. Technical Solutions

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] A first aspect of the present invention provides a low-energy-consumption port container AGV / IGV electro-hydraulic control system, comprising an AGV / IGV body and a drive axle, a steering electro-hydraulic servo power unit, a parking brake electro-hydraulic power unit, and an electro-hydraulic system controller provided on the AGV / IGV body;

[0007] The steering electro-hydraulic servo power unit includes a variable frequency / servo motor and a bidirectional high-pressure hydraulic pump. The variable frequency / servo motor drives the bidirectional high-pressure hydraulic pump, and the bidirectional high-pressure hydraulic pump is connected to the drive axle.

[0008] The parking brake electro-hydraulic power unit includes a motor, a one-way high-pressure hydraulic pump and a brake, wherein the motor drives the one-way high-pressure hydraulic pump, the one-way high-pressure hydraulic pump is connected to the brake, and the brake is connected to the drive axle;

[0009] The electro-hydraulic system controller is used to control the steering electro-hydraulic servo power unit and the parking brake electro-hydraulic power unit.

[0010] Preferably, the bidirectional high-pressure hydraulic pump is connected to the left steering cylinder and the right steering cylinder of the drive axle respectively through two hydraulic oil pipes.

[0011] Preferably, the steering electro-hydraulic servo power unit further includes two steering sensors;

[0012] The two steering sensors are used to detect the steering angles of the left steering cylinder and the right steering cylinder respectively.

[0013] Preferably, the one-way high-pressure hydraulic pump is connected to the brake through a hydraulic oil pipe.

[0014] Preferably, the parking brake electro-hydraulic power unit further includes a pressure sensor for detecting the brake pressure of the one-way high-pressure hydraulic pump.

[0015] Preferably, the electro-hydraulic system controller establishes a communication connection with the steering electro-hydraulic servo power unit and the parking brake electro-hydraulic power unit via CAN, profinet or profibus.

[0016] The second aspect of the present invention provides a low-energy-consumption port container AGV / IGV electro-hydraulic control method, which performs the following work flow through the low-energy-consumption port container AGV / IGV electro-hydraulic control system provided by the first aspect of the present invention:

[0017] When the container AGV / IGV sends a start signal, the electro-hydraulic system controller first sends a start signal to the parking brake electro-hydraulic power unit, the parking brake electro-hydraulic power unit starts to work, and the brake is opened;

[0018] When the pressure sensor detects that the brake pressure reaches the set pressure value, the parking brake electro-hydraulic power unit sends a brake opening signal to the container AGV / IGV, and the electro-hydraulic system controller controls the motor of the parking brake electro-hydraulic power unit to stop and maintain pressure.

[0019] When the container AGV / IGV is in operation, the pressure sensor of the parking brake electro-hydraulic power unit constantly monitors the brake pressure. When the brake pressure is lower than the set pressure, the electro-hydraulic system controller controls the motor of the parking brake electro-hydraulic power unit to start working until the brake system set pressure value is reached.

[0020] This cycle continues unless the container AGV / IGV sends a stop signal.

[0021] Preferably, when the container AGV / IGV receives the brake release signal, it can start moving and turning.

[0022] During the movement of the container AGV / IGV, a steering angle instruction is issued in real time. After receiving the steering angle instruction, the electro-hydraulic system controller issues a control instruction to the steering electro-hydraulic servo power unit based on the current angle value of the drive axle after PID calculation by the electro-hydraulic system controller. The steering electro-hydraulic servo power unit controls the drive axle to steer to the steering angle received by the electro-hydraulic system controller. Beneficial effects

[0023] The low-energy-consumption port container AGV / IGV electro-hydraulic control system and method provided by the present invention have the following beneficial effects:

[0024] 1) The number of steering electro-hydraulic servo power units and parking brake electro-hydraulic power units can be configured according to the number of axes of the container AGV / IGV;

[0025] 2) The installation position of the steering electro-hydraulic power unit and parking brake power unit can be adjusted according to the specific mechanical structure of the container AGV / IGV to achieve nearby installation;

[0026] 3) In conjunction with the electro-hydraulic system controller, a low-energy-consumption port container AGV / IGV electro-hydraulic control system can be realized, making the entire container AGV / IGV vehicle wiring simpler and more convenient for troubleshooting, equipment maintenance and component replacement. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] 1 is a schematic diagram of the framework structure of the steering electro-hydraulic servo power unit in the low-energy port container AGV / IGV electro-hydraulic control system of the present invention;

[0028] FIG2 is a schematic diagram of the framework structure of the parking brake electro-hydraulic power unit in the low-energy port container AGV / IGV electro-hydraulic control system of the present invention;

[0029] 3 is a schematic diagram of the layout of the low-energy-consumption port container AGV / IGV electro-hydraulic control system of the present invention when the container AGV / IGV is two-axle;

[0030] 4 is a schematic diagram of the layout of the low-energy-consumption port container AGV / IGV electro-hydraulic control system of the present invention when the container AGV / IGV is four-axle;

[0031] FIG5 is a schematic diagram showing the control principle of the low-energy-consumption port container AGV / IGV electro-hydraulic control system of the present invention when the container AGV / IGV is two-axle. Best Mode for Carrying Out the Invention

[0032] In order to better understand the above technical solutions of the present invention, the technical solutions of the present invention are further described below with reference to the accompanying drawings and embodiments.

[0033] The present invention provides a low-energy port container AGV / IGV electro-hydraulic control system, comprising an AGV / IGV body 100, a drive axle 7, a steering electro-hydraulic servo power unit 1, a parking brake electro-hydraulic power unit 2, and an electro-hydraulic system controller 3. The above is part of the prior art and will not be elaborated here. The differences from the prior art are:

[0034] 1 and 2 , the steering electro-hydraulic servo power unit 1 includes a variable frequency / servo motor and a bidirectional high-pressure hydraulic pump. The variable frequency / servo motor drives the bidirectional high-pressure hydraulic pump to implement a volume servo control system.

[0035] When the steering electro-hydraulic servo power unit 1 is operating, it performs real-time closed-loop position control based on the steering instructions of the container AGV / IGV. Besides the necessary hydraulic control components integrated within the steering electro-hydraulic servo power unit 1, no external hydraulic control components such as reversing valves are required. The bidirectional high-pressure hydraulic pump only needs to be connected to the two steering cylinders (left steering cylinder 5 and right steering cylinder 6) of the drive axle 7 via two hydraulic oil pipes 4. Compared with traditional centralized oil supply hydraulic transmission and control systems, the steering electro-hydraulic control system formed by the steering electro-hydraulic servo power unit 1 of the present invention is more efficient, with simpler hydraulic pipeline and cable wiring, making it easier to troubleshoot, repair equipment, and replace components. At the same time, the steering electro-hydraulic servo power unit 1 can be arranged nearby according to the number of drive axles 7 of the container AGV / IGV and the specific mechanical structure of the vehicle body.

[0036] The steering electro-hydraulic servo power unit 1 further includes two steering sensors 8 and 9. The two steering sensors 8 and 9 are used to detect the steering angles of the left steering cylinder 5 and the right steering cylinder 6 respectively.

[0037] The parking brake electro-hydraulic power unit 2 includes a motor, a one-way high-pressure hydraulic pump and a brake 10. The motor drives the one-way high-pressure hydraulic pump, which is connected to the brake 10. The brake 10 is connected to the drive axle 7 to realize a volume control system.

[0038] When the parking brake electro-hydraulic power unit 2 is operating, it monitors the brake pressure of the one-way high-pressure hydraulic pump in real time and maintains the brake pressure within a certain range. (When the brake pressure reaches the set value, the electro-hydraulic system controller 3 instructs the motor to stop. At this time, the high-pressure oil is sealed in the one-way high-pressure hydraulic pump by the hydraulic valve in the parking brake electro-hydraulic power unit 2. Over time, there will be some leakage, causing the pressure in the brake 10 to fall below the set value. At this time, the electro-hydraulic system controller 3 determines and controls the motor to operate and replenish pressure in the system. When the vehicle is shut down and power is removed, or when parking braking is required, the electro-hydraulic system controller 3 controls the solenoid valve in the parking brake electro-hydraulic power unit 2 to de-energize. The one-way high-pressure hydraulic pump then uses its internal spring to push the brake piston to apply the brake.) The layout of the parking brake electro-hydraulic power unit 2 can be adapted to the mechanical structure of the container AGV / IGV body, enabling various control modes, such as the parking brake electro-hydraulic power unit 2 driving a single brake 10 or driving multiple brakes 10 in parallel (depending on the number of drive axles 7).

[0039] The parking brake electro-hydraulic power unit 2 further includes a pressure sensor 11 for detecting the brake pressure of the one-way high-pressure hydraulic pump.

[0040] The electro-hydraulic system controller 3 uses a high-performance processor and establishes real-time communication with the steering electro-hydraulic servo power unit 1 and the parking brake electro-hydraulic power unit 2 via CAN, Profinet, or Profibus. It is also connected to the entire electrical control system of the containerized AGV / IGV through the bus. Based on the vehicle control instructions from the containerized AGV / IGV and the collected steering angle and brake pressure information, the electro-hydraulic system controller 3 processes and calculates the information, and outputs the results to the steering electro-hydraulic servo power unit 1 and the parking brake electro-hydraulic power unit 2 for execution.

[0041] Container AGV / IGV generally has 2 axes (as shown in FIG3 ) or 4 axes (as shown in FIG4 ), and is mainly distinguished by the number of drive axles 7 . The number of steering electro-hydraulic servo power units 1 and the number of parking brake electro-hydraulic power units 2 of the present invention are adapted to the number of drive axles 7 , and are installed nearby on the AGV / IGV body 100 .

[0042] To achieve energy savings and consumption reduction in AGV / IGV hydraulic systems, this invention modifies the AGV / IGV hydraulic system from a traditional centralized oil-supply hydraulic system to an electro-hydraulic power unit transmission and control system. Specifically, the steering and parking brake functions are replaced by a steering electro-hydraulic servo power unit and a parking brake electro-hydraulic power unit, respectively.

[0043] The electro-hydraulic power unit utilizes closed-loop volume control, significantly improving the volumetric efficiency of the electro-hydraulic system, significantly reducing standby energy consumption, and eliminating the need for a cooling system. Its integrated electro-hydraulic design results in a smaller electro-hydraulic power unit. Furthermore, a communication bus is used between the electro-hydraulic power supply and its electro-hydraulic controller, enabling a modular, distributed system architecture for the AGV / IGV electro-hydraulic control system. This eliminates significant hydraulic piping, reduces piping construction work, and reduces routing, enabling rapid replacement of faulty modules. The reduction in hydraulic piping also reduces the risk of hydraulic oil leakage and contamination. The use of a communication bus between the electro-hydraulic power supply and its electro-hydraulic controller reduces the number of control cables, simplifying the wiring of the AGV / IGV vehicle and facilitating troubleshooting, equipment maintenance, and component replacement.

[0044] The present invention also provides a low-energy-consumption port container AGV / IGV electro-hydraulic control method, which performs the following work flow through the low-energy-consumption port container AGV / IGV electro-hydraulic control system of the present invention:

[0045] When the container AGV / IGV sends a start signal, the electro-hydraulic system controller 3 first sends a start signal to the parking brake electro-hydraulic power unit 2, and the parking brake electro-hydraulic power unit 2 starts to work, and the brake 10 is opened;

[0046] When the pressure sensor 11 detects that the brake pressure reaches the set pressure value, the parking brake electro-hydraulic power unit 2 sends a brake 10 opening signal to the container AGV / IGV, and the electro-hydraulic system controller 3 controls the motor of the parking brake electro-hydraulic power unit 2 to stop and maintain pressure.

[0047] When the container AGV / IGV is in operation, the pressure sensor 11 of the parking brake electro-hydraulic power unit 2 constantly monitors the brake pressure. When the brake pressure is lower than the set pressure, the electro-hydraulic system controller 3 controls the motor of the parking brake electro-hydraulic power unit 2 to start working until the brake system pressure reaches the set pressure value.

[0048] This cycle continues unless the container AGV / IGV sends a stop signal.

[0049] As shown in Figure 5, when the container AGV / IGV receives the brake release signal, it can start moving and turning:

[0050] During the movement of the container AGV / IGV, a steering angle instruction is issued in real time. After receiving the steering angle instruction, the electro-hydraulic system controller 3 sends a control instruction to the steering electro-hydraulic servo power unit 2 based on the current angle value of the drive axle 7 after PID calculation by the electro-hydraulic system controller 3. The steering electro-hydraulic servo power unit 2 controls the drive axle 7 to steer to the steering angle received by the electro-hydraulic system controller 3.

[0051] The present invention can achieve the purpose of energy saving and consumption reduction of the container AGV / IGV electro-hydraulic control system through the coordinated cooperation of the above elements, PID control algorithm and the above electro-hydraulic system workflow.

[0052] Those skilled in the art should recognize that the above embodiments are merely intended to illustrate the present invention and are not intended to limit the present invention. As long as they are within the spirit of the present invention, any changes or modifications to the above embodiments will fall within the scope of the claims of the present invention.

Claims

1. A low-energy port container AGV / IGV electro-hydraulic control system, comprising an AGV / IGV body and a drive axle, a steering electro-hydraulic servo power unit, a parking brake electro-hydraulic power unit and an electro-hydraulic system controller arranged on the AGV / IGV body, characterized in that: The steering electro-hydraulic servo power unit comprises a variable frequency / servo motor and a bidirectional high-pressure hydraulic pump, wherein the variable frequency / servo motor drives the bidirectional high-pressure hydraulic pump, and the bidirectional high-pressure hydraulic pump is connected to the drive axle; The parking brake electro-hydraulic power unit comprises a motor, a one-way high-pressure hydraulic pump and a brake, wherein the motor drives the one-way high-pressure hydraulic pump, the one-way high-pressure hydraulic pump is connected to the brake, and the brake is connected to the drive axle; The electro-hydraulic system controller is used to control the steering electro-hydraulic servo power unit and the parking brake electro-hydraulic power unit.

2. The low-energy port container AGV / IGV electro-hydraulic control system according to claim 1 is characterized by: The bidirectional high-pressure hydraulic pump is connected to the left steering cylinder and the right steering cylinder of the drive axle respectively through two hydraulic oil pipes.

3. The low-energy-consumption port container AGV / IGV electro-hydraulic control system according to claim 2 is characterized by: The steering electro-hydraulic servo power unit also includes two steering sensors; The two steering sensors are used to detect the steering angles of the left steering cylinder and the right steering cylinder respectively.

4. The low-energy-consumption port container AGV / IGV electro-hydraulic control system according to claim 1 is characterized by: The one-way high-pressure hydraulic pump is connected to the brake through a hydraulic oil pipe.

5. The low-energy-consumption port container AGV / IGV electro-hydraulic control system according to claim 4 is characterized by: The parking brake electro-hydraulic power unit further includes a pressure sensor for detecting the brake pressure of the one-way high-pressure hydraulic pump.

6. The low-energy-consumption port container AGV / IGV electro-hydraulic control system according to claim 1 is characterized by: The electro-hydraulic system controller establishes a communication connection with the steering electro-hydraulic servo power unit and the parking brake electro-hydraulic power unit via CAN, profinet or profibus.

7. A low-energy-consumption port container AGV / IGV electro-hydraulic control method, characterized in that: The following workflow is performed by the low-energy port container AGV / IGV electro-hydraulic control system as described in any one of claims 1-6: When the container AGV / IGV sends a start signal, the electro-hydraulic system controller first sends a start signal to the parking brake electro-hydraulic power unit, the parking brake electro-hydraulic power unit starts to work, and the brake is opened; When the pressure sensor detects that the brake pressure reaches the set pressure value, the parking brake electro-hydraulic power unit sends a brake opening signal to the container AGV / IGV, and the electro-hydraulic system controller controls the motor of the parking brake electro-hydraulic power unit to stop and maintain pressure; When the container AGV / IGV is in working state, the pressure sensor of the parking brake electro-hydraulic power unit monitors the brake pressure at all times. When the brake pressure is lower than the set pressure, the electro-hydraulic system controller controls the motor of the parking brake electro-hydraulic power unit to start working to the set pressure value of the brake system; The operation is cyclically continued in this way unless the container AGV / IGV sends a stop signal.

8. The low-energy-consumption port container AGV / IGV electro-hydraulic control method according to claim 7 is characterized in that: When the container AGV / IGV receives the brake release signal, it can start moving and turning: During the movement of the container AGV / IGV, a steering angle instruction is issued in real time. After receiving the steering angle instruction, the electro-hydraulic system controller issues a control instruction to the steering electro-hydraulic servo power unit based on the current angle value of the drive axle after PID calculation by the electro-hydraulic system controller. The steering electro-hydraulic servo power unit controls the drive axle to steer to the steering angle received by the electro-hydraulic system controller.

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