CN206520666U - Container homing guidance electric trailer - Google Patents
Container homing guidance electric trailer Download PDFInfo
- Publication number
- CN206520666U CN206520666U CN201621235759.9U CN201621235759U CN206520666U CN 206520666 U CN206520666 U CN 206520666U CN 201621235759 U CN201621235759 U CN 201621235759U CN 206520666 U CN206520666 U CN 206520666U
- Authority
- CN
- China
- Prior art keywords
- container
- homing guidance
- vehicle frame
- straight line
- line driver
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Automatic Cycles, And Cycles In General (AREA)
Abstract
This application discloses a kind of container homing guidance electric trailer, including vehicle frame, propons and back axle are fixedly connected with the vehicle frame, one of at least described propons and back axle are steeraxle, the steeraxle includes carrier bar and is arranged at the knuckle of the carrying beam end, first straight line driver is hinged between the knuckle and the carrier bar, variable-frequency motor is fixedly installed on the vehicle frame, the variable-frequency motor is connected with the input shaft set on the propons and/or the back axle, and the vehicle frame is provided with the saddle for being used for being connected with Semi-trailing platform trailer.The container homing guidance electric trailer structure of the program is small, and cost is low, and reliability is high.
Description
Technical field
Present application relates generally to unpiloted self-acting trailer technical field, the more particularly, to container of port and pier
Homing guidance electric trailer and the unmanned container self-acting trailer that can be travelled on highway.
Background technology
With advances in technology, the level of Nowadays, Container shipping harbour is carried and more and more uses automatic guided vehicle
(Automated Guided Vehicle；AGV).Automatic guided vehicle is the payload of freight container flat board vehicle of energy automatic running, car
It is upper to provide running condition information to vehicle control syetem equipped with steering and velocity sensor, provided further according to Position Fixing Navigation System
Path be dynamically determined vehicle run location, general precision can reach ± 50 millimeters, and minimum can reach ± 20 millimeters.
The operation logic of automatic guided vehicle is that container is put into the washer of its own, by the direct load transportation of flat board
Container.Because the operation principle of automatic guided vehicle is that container is put into the washer of its own, container is directly carried on the back
Transported.Therefore, the body frame structure for automotive of automatic guided vehicle itself bears the weight of whole container, then vehicle frame, vehicle bridge, tire etc.
It is all larger, cause production cost higher.
And in addition, also wanting a class short straddle carrier, it is developed on the basis of straddle carrier, is only used for harbour and stockyard
Between container level shuttle carry transporting equipment.Straddle carrier equipment can be achieved unmanned in itself.Constructed in itself by car body and
The limitation of operating type, the navigation of straddle carrier and alignment system generally need to be fixed using DGPS (DGPS) and scene
Position radar (LPR).Such straddle carrier is lifting container, and transport in handling.Resistance to overturning is poor, and gait of march has
Limit, conevying efficiency is difficult to ensure that, is unfavorable for promoting in automated container terminal.
Utility model content
In view of drawbacks described above of the prior art or deficiency, expect to provide a kind of container homing guidance electric trailer, use
To solve the problem of container automatic towing appliance is bulky, cost is high present in prior art.
Before being fixedly connected with a kind of container homing guidance electric trailer of the application offer, including vehicle frame, the vehicle frame
Bridge and back axle, one of at least described propons and back axle are steeraxle, and the steeraxle includes carrier bar and is arranged at the carrying
The knuckle of beam end, is hinged with first straight line driver, the vehicle frame fixed between the knuckle and the carrier bar
Variable-frequency motor is provided with, the variable-frequency motor is connected with the input shaft set on the propons and/or the back axle, the vehicle frame
On be provided with saddle for being connected with Semi-trailing platform trailer.
During the container homing guidance electric trailer work that the application is provided, by saddle with being dragged the Semi-trailing platform trailer of load to enter
Row connection, the transhipment that Semi-trailing platform trailer carries out container is dragged by container homing guidance electric trailer, automatic than existing
Car is guided, the container homing guidance electric trailer there is no need for carrying the weight of whole containers, therefore the ratio that can be done
It is smaller, production cost is reduced, the container homing guidance of the container homing guidance electric trailer and same level technical parameter
Trailer is compared, and its price is only the 1/3-1/2 of universal container homing guidance trailer price.In addition, being driven using first straight line
Device carrys out automatically controlling for travel direction, with simple in construction, service-strong advantage.
Because the container homing guidance electric trailer has saddle, it, can compared with present container terminal trailer
Using the Semi-trailing platform trailer behind the trailer of harbour, compatibility is good.The container homing guidance electric trailer and semi-mounted below
Flat car can be connected and separated automatically, and one is that can improve the utilization rate of self-acting trailer, without waiting for crane to partly
Hang Stuff (to) above flat car, but wait install after after carrying out breakdown trailer.Two be that self-acting trailer is adapted to original half
Flat car is hung, or even with the container Semi-trailing platform trailer on urban road is also compatible, applicable performance is improved.Three be in city
City's Vehicular automatic driving development to a certain extent, can also replace the automatic transportation of the container truck for urban road.Four
It is when container needs to transport from automatic dock to harbour, without container face crane or container door
The container lifting such as crane special equipment carries out the transfer work between AGV and artificial towed vehicle, the container homing guidance
Electric trailer can exchange container-trailer rapidly and can complete this work with artificial tow the head.On the one hand harbour transfer is reduced
Place, on the other hand also eliminates intermediate link, has saved a large amount of manpower and materials costs.
Brief description of the drawings
By reading the detailed description made to non-limiting example made with reference to the following drawings, the application's is other
Feature, objects and advantages will become more apparent upon：
The front view for the container homing guidance electric trailer that Fig. 1 provides for the utility model embodiment；
Fig. 2 does not show saddle portion structure for the container homing guidance electric trailer that the utility model embodiment is provided
Top view；
The front view for the container homing guidance electric trailer that Fig. 3 provides for another embodiment of the utility model.
Embodiment
The application is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining relevant utility model, rather than the restriction to the utility model.Further need exist for explanation
, for the ease of description, the part related to utility model is illustrate only in accompanying drawing.
It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the application can phase
Mutually combination.Describe the application in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
It refer to shown in Fig. 1, Fig. 2, the container homing guidance electric trailer that the utility model embodiment is provided, including car
Propons 9 and back axle 7 are fixedly connected with frame 1, vehicle frame 1, at least one of propons 9 and back axle 7 is steeraxle, and steeraxle includes carrying
Beam and the knuckle 10 for being arranged at carrying beam end, are hinged with first straight line driver 11, car between knuckle 10 and carrier bar
Variable-frequency motor 8 is fixedly installed on frame 1, variable-frequency motor 8 is connected with the input shaft set on propons 9 and/or back axle 7, on vehicle frame 1
It is provided with the saddle 4 for being connected with Semi-trailing platform trailer.As one of which implementation, installation can be stationarily connected to
On vehicle frame.
During the container homing guidance electric trailer work that the application is provided, by lifting beam 3 by saddle 4 and being dragged load
Container flat car be attached, by container homing guidance electric trailer drag container flat car carry out container turn
Fortune, than existing automatic guided vehicle, the container homing guidance electric trailer there is no need for carrying the weight of whole containers
Amount, thus can do it is smaller, reduce production cost, the container homing guidance electric trailer and same level technical parameter
Container homing guidance trailer compare, its price is only the 1/3-1/2 of universal container homing guidance trailer price.In addition,
Using first straight line driver 11 come the control of travel direction, and traveling control is carried out by variable-frequency motor, this leads with existing
Draw car compared to the mechanisms such as steering wheel, gas pedal, brake pedal are eliminated, with simple in construction, service-strong advantage.This
Outside, due to the container homing guidance electric trailer small volume, if it produces failure, a small-sized forklift can be pulled
To repair location, transportation route will not be hindered so that production can recover rapidly.
In actual use, general propons 9 is a steeraxle, and back axle 7 is a drive axle, the two of the carrier bar of propons 9
Hold and front-wheel 2 is set, the end of the semiaxis of back axle 7 sets trailing wheel 2, and ordinary circumstance is respectively provided with two trailing wheels 2 per side, and basis is dragged certainly
Transport operating mode, 2 axles or the back axle of other quantity can also be set, and other quantity trailing wheel 2.Pacify on such a situation only propons 9
Carry out the control of travel direction equipped with first straight line driver 11, the control of first straight line driver 11 uses servo control mode,
It can be fed back, accurately control steering angle.The correction walked available for automatic linear, it can also be used to the steering of detour.Using
First straight line driver 11 carries out course changing control, than existing trailer, eliminates steering wheel, simplifies structure, reduces event
Hinder point, improve the reliability used, knuckle 10 directly can be controlled by the flexible of programme-control first straight line driver 11
Motion come realize accurately turn to or rectify a deviation control.Certainly, front-wheel 2 and trailing wheel 2 can be steeraxle, while also can install
There is drive device, then now front-rear axle 7 is driving steeraxle.
In addition, using variable-frequency motor 8 as power in the application, variable-frequency motor with set on propons and/or back axle it is defeated
Enter axle connection, variable-frequency motor could be arranged to 1, drive single bridge (propons or back axle), it can also be provided that 2, drive respectively
Forward and backward bridge, more existing diesel tractor, compact conformation, energy utilization rate is high, and noise is low, and trouble point is few, easy access,
And the size of frequency conversion amount can be controlled by frequency converter to realize accurate, the flexible control of hauling speed.
The container homing guidance electric trailer of the application, the magnetic that can be followed closely by GPS, station keeping radar, the pre-buried magnetic in ground
The forms such as navigation, ground image identification are guided to the container homing guidance electric trailer, rectify a deviations, realize nobody oneself
Dynamic traveling.For example, the guiding control unit of the container homing guidance electric trailer connects GPS or station keeping radar signal, and with it is pre-
Fixed advanced positions information is compared, if there is deviation, and the Das Vorderradfahrwerkmit Vorderradantrieb for controlling first by servo control unit is stretched
Go out or bounce back, come travel direction control or correction.
Further, first straight line driver 11 is horizontally disposed with, and can reduce first straight line driver 11 in vertical direction
On component, ensure turn to power output in the case of, can as far as possible selection of small first straight line driver 11, further
Reduce manufacturing cost.
Further, the company of being vertically arranged with horizontally disposed engaging lug 12, engaging lug 12 is provided with the middle part of carrier bar
Hole is connected, one end of a linear actuator is hinged by bearing pin with being connected through hole, the other end of first straight line driver 11 is with turning
It is hinged to section 10.The engaging lug 12 can be welded on carrier bar or be formed with carrier bar integrally casting or forging and stamping.It is logical
Cross the engaging lug 12 of setting level first straight line driver 11 is installed, can make the installation site of first straight line driver 11 to
Preceding movement, makes it have more fully rotation space, to control the large rotation angle of deflecting roller.
Further, first straight line driver 11 is hydraulic cylinder or electric pushrod.
Further, alternatively implementation, referring to Fig. 3, saddle lower chain is connected to lifting beam 3, lifting beam 3 with
Vehicle frame 1 is hinged, and the lifting driver that driving lifting beam is rotated is provided with vehicle frame 1.
Further, lifting driver is second straight line driver 5, and one end and the vehicle frame 1 of second straight line driver 5 are hinged
The other end is hinged with lifting beam 3.By the flexible rotation to control lifting beam 3 of second straight line driver 5, and then control saddle
4, which move up and down, to carry out automatically connecting or departing from corresponding Semi-trailing platform trailer.
Further, second straight line driver 5 is hydraulic cylinder or electric pushrod.
Further, the pin-and-hole for being connected with Semi-trailing platform trailer is connected with saddle 4, can be with Semi-trailing platform trailer in port
Or the bearing pin of the Semi-trailing platform trailer of highway transportation is matched and is connected.
Further, in order to realize the traction to another Semi-trailing platform trailer, the semitrailer such as connected by gooseneck is made
For another implementation, referring to Fig. 3, saddle lower chain is connected to lifting beam 3, and lifting beam 3 is hinged with vehicle frame 1, set on vehicle frame 1
It is equipped with the lifting driver that driving lifting beam is rotated.
Further, according to the difference of Semi-trailing platform trailer pattern, it is connected with saddle 4 for being connected with Semi-trailing platform trailer
Gooseneck, by setting gooseneck to be attached with a greater variety of Semi-trailing platform trailers, has widened container homing guidance electricity
The use scope of dynamic trailer.
Further, the lithium battery or diesel-driven generator for setting promising variable-frequency motor 8 to power on vehicle frame 1, certainly, here
Lithium battery or diesel-driven generator can also be used for powering to other consuming parts on the container homing guidance electric trailer.
Above description is only the preferred embodiment of the application and the explanation to institute's application technology principle.People in the art
Member should be appreciated that utility model scope involved in the application, however it is not limited to the particular combination of above-mentioned technical characteristic
Technical scheme, while should also cover in the case where not departing from utility model design, by above-mentioned technical characteristic or its be equal
Feature be combined formed by other technical schemes.Such as features described above has with (but not limited to) disclosed herein
The technical characteristic for having similar functions carries out technical scheme formed by replacement mutually.
Claims (10)
1. propons and back axle are fixedly connected with a kind of container homing guidance electric trailer, including vehicle frame, the vehicle frame, at least
One of described propons and back axle are steeraxle, and the steeraxle includes carrier bar and is arranged at the steering of the carrying beam end
Section, it is characterised in that fixation on first straight line driver, the vehicle frame is hinged between the knuckle and the carrier bar and is set
Variable-frequency motor is equipped with, the variable-frequency motor is connected with the input shaft set on the propons and/or the back axle, on the vehicle frame
It is provided with the saddle for being connected with Semi-trailing platform trailer.
2. container homing guidance electric trailer according to claim 1, it is characterised in that the first straight line driver
It is horizontally disposed.
3. container homing guidance electric trailer according to claim 1 or 2, it is characterised in that in the carrier bar
Portion, which is provided with horizontally disposed engaging lug, the engaging lug, is vertically arranged with connection through hole, the first straight line driver
One end is hinged by bearing pin with the connection through hole, and the other end and the knuckle of the first straight line driver are hinged.
4. container homing guidance electric trailer according to claim 3, it is characterised in that the first straight line driver
For hydraulic cylinder or electric pushrod.
5. container homing guidance electric trailer according to claim 1 or 2, it is characterised in that connected on the saddle
There is the pin-and-hole for being connected with the Semi-trailing platform trailer.
6. container homing guidance electric trailer according to claim 1 or 2, it is characterised in that the saddle lower chain
Lifting beam is connected to, the lifting beam is hinged with the vehicle frame, the lifting for driving the lifting beam to rotate is provided with the vehicle frame
Driver.
7. container homing guidance electric trailer according to claim 6, it is characterised in that the lifting driver is the
Two linear actuators, one end and the vehicle frame of the second straight line driver are hinged the other end and are hinged with the lifting beam.
8. container homing guidance electric trailer according to claim 7, it is characterised in that the second straight line driver
For hydraulic cylinder or electric pushrod.
9. container homing guidance electric trailer according to claim 1 or 2, it is characterised in that set on the vehicle frame
Lithium battery or diesel-driven generator that the promising variable-frequency motor is powered.
10. container homing guidance electric trailer according to claim 6, it is characterised in that be connected with the saddle
For the gooseneck being connected with Semi-trailing platform trailer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621235759.9U CN206520666U (en) | 2016-11-17 | 2016-11-17 | Container homing guidance electric trailer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621235759.9U CN206520666U (en) | 2016-11-17 | 2016-11-17 | Container homing guidance electric trailer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206520666U true CN206520666U (en) | 2017-09-26 |
Family
ID=59889241
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621235759.9U Expired - Fee Related CN206520666U (en) | 2016-11-17 | 2016-11-17 | Container homing guidance electric trailer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206520666U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106741239A (en) * | 2016-11-17 | 2017-05-31 | 范庆祝 | Container homing guidance electric trailer |
-
2016
- 2016-11-17 CN CN201621235759.9U patent/CN206520666U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106741239A (en) * | 2016-11-17 | 2017-05-31 | 范庆祝 | Container homing guidance electric trailer |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106741239A (en) | Container homing guidance electric trailer | |
| AU2018263586B2 (en) | Method and system for operating an automatically guided transport vehicle for containers | |
| RU2747393C2 (en) | Road train combination, in particular, in form of long combination of industrial vehicles | |
| CN107826164A (en) | A kind of multi-wheel steering system and control method based on electric power-assisted | |
| CN115087588B (en) | Control architecture for self-driven towing vehicle | |
| RU2748243C2 (en) | Road train combination with tractor and semi-trailer | |
| CN102869559A (en) | Modular and scaleable port vehicle | |
| CN102529922A (en) | Lateral stability control system for semi-trailer train | |
| CN104417634B (en) | Pure electric vehicle tractor and the vehicle suitable for being transported in field | |
| CN115052802B (en) | Method for controlling a self-driven towing vehicle during evasion maneuver | |
| CN103287491A (en) | Control system for compliance steer of roadway trackless wheeled hydraulic power vehicle group | |
| Odhams et al. | Implementation of active steering on a multiple trailer long combination vehicle | |
| CN105620549A (en) | Rubber wheel hinging type bogie for guiding trolleybus and guiding trolleybus | |
| US11845360B2 (en) | Battery charging by towed regenerative braking | |
| CN206520666U (en) | Container homing guidance electric trailer | |
| US5071152A (en) | Remote-steering trailer | |
| CN201357752Y (en) | 4 wheel driven bowing-type tractor transportation vehicle | |
| CN112758174A (en) | Multi-axis cooperative intelligent transport vehicle and cooperative steering control method thereof | |
| CN205365779U (en) | Rubber tyer low -floor intelligence rail train that power decentralized type orbit was followed | |
| CN108116493A (en) | Turn to drive module and corresponding vehicle | |
| CN105620548A (en) | Rubber wheel power frame for trolley guiding bus and trolley guiding bus | |
| CN113056410A (en) | Driverless transport vehicle and method for moving a fifth wheel by means of a driverless transport vehicle | |
| CN2037708U (en) | Increased hydraulically-hoisting universal-wheel steering mechanism for an autombile | |
| CN216034733U (en) | Highway train and control system with supplementary function that turns to | |
| US20220306014A1 (en) | Sensor Device for a Towing Vehicle in a Vehicle/Trailer Combination and Vehicle/Trailer Combination Having a Sensor Device of this Kind |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170926 Termination date: 20181117 |