CN212447102U

CN212447102U - Port transfer vehicle

Info

Publication number: CN212447102U
Application number: CN202021235454.4U
Authority: CN
Inventors: 贾体锋; 孟海滨; 王伟; 刘西超; 刘继权; 牛勇; 郑晓雯; 程猛
Original assignee: Xuzhou XCMG Railway Equipment Co Ltd
Current assignee: Xuzhou Xugong Port Machinery Co.,Ltd.
Priority date: 2020-06-29
Filing date: 2020-06-29
Publication date: 2021-02-02
Anticipated expiration: 2030-06-29

Abstract

The utility model relates to a harbour machinery technical field, in particular to harbour transfer vehicle. The utility model discloses a harbour haulage vehicle, include: a storage battery; a driving wheel comprising a power wheel; and the walking control device comprises a wheel speed control device, the wheel speed control device comprises a motor and a motor controller, the motor is arranged on the power wheel and electrically connected with the storage battery, and is used for driving the power wheel to walk under the action of power supplied by the storage battery, and the motor controller is in signal connection with the motor and controls the walking speed of the power wheel by controlling the rotation of the motor. Based on this, can realize the electronic differential control to harbour haulage vehicle.

Description

Port transfer vehicle

Technical Field

The utility model relates to a harbour machinery technical field, in particular to harbour transfer vehicle.

Background

The common vehicle adopts a differential mechanism to perform differential speed control. On the basis of running by adopting a hydraulic motor, the influence caused by differential speed can be avoided by utilizing the communication performance of a hydraulic system of other large-sized vehicles. However, the electric port transit vehicle cannot use a conventional differential or hydraulic motor because:

(1) the differential mechanism adopted by the small and medium-sized vehicles has smaller torque, and is difficult to meet the large torque requirement of large-sized transfer vehicles;

(2) the existing high-power pump station driving oil cylinder needs larger power for walking, larger energy loss exists among the motor, the pump station and the motor, and the method is not suitable for equipment powered by batteries.

Therefore, how to realize the differential speed control of the electric port transfer vehicle is a difficult problem.

SUMMERY OF THE UTILITY MODEL

The utility model discloses a technical problem who solves does: the differential speed control of port transfer vehicles is realized.

In order to solve the technical problem, the utility model provides a harbour transfer vehicle, it includes:

a storage battery;

a driving wheel comprising a power wheel; and

the walking control device comprises a wheel speed control device, the wheel speed control device comprises a motor and a motor controller, the motor is arranged on the power wheel and electrically connected with the storage battery, and is used for driving the power wheel to walk under the action of power supplied by the storage battery, and the motor controller is in signal connection with the motor and controls the walking speed of the power wheel by controlling the rotation of the motor.

In some embodiments, the electric machine is an ac electric machine.

In some embodiments, the port transfer vehicle further comprises a vehicle control unit, and the vehicle control unit is in signal connection with the motor through the motor controller.

In some embodiments, the vehicle control unit and the motor controller are connected through a CAN bus.

In some embodiments, the wheel speed control device further includes a rotation speed detection component for detecting an actual rotation speed of the power wheel, the rotation speed detection component is in signal connection with the motor controller, and the motor controller regulates and controls the speed of the power wheel according to a difference between the actual rotation speed of the power wheel detected by the rotation speed detection component and a preset rotation speed of the power wheel.

In some embodiments, the rotational speed detection component includes a resolver transformer.

In some embodiments, the preset rotational speed of the powered wheels is determined by a vehicle control unit of the harbour transfer vehicle.

In some embodiments, the port transfer vehicle comprises at least two driving wheels and at least two traveling control devices, wherein the at least two traveling control devices correspond to the at least two driving wheels one by one; and/or the driving wheel comprises two power wheels which are coaxially connected, the walking control device comprises two rotating speed control devices, and the two rotating speed control devices of the walking control device correspond to the two power wheels of the driving wheel one by one.

In some embodiments, the port transit vehicle is an unmanned port transit vehicle.

The power wheels of the port transfer vehicle are provided with the motors supplied with power by the storage batteries, and the motors are controlled to rotate by the motor controllers, so that the traveling speed of the power wheels can be conveniently controlled, the traveling speed of each wheel is controlled to meet a certain constraint relation, and the electronic differential control of the port transfer vehicle is realized.

Other features of the present invention and advantages thereof will become apparent from the following detailed description of exemplary embodiments of the invention, which proceeds with reference to the accompanying drawings.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.

Fig. 1 shows a schematic block diagram of a port transfer vehicle according to some embodiments of the present invention.

Fig. 2 illustrates a block diagram of an electrical control system for a port transfer vehicle in some embodiments of the invention.

Fig. 3 illustrates a flow chart of control logic for a port transfer vehicle in some embodiments of the present invention.

In the figure:

100. port transfer vehicles;

1. a frame; 2. a driving wheel; 21. a power wheel; 3. a motor; 4. a storage battery; 5. a vehicle control unit; 6. a motor controller; 7. a rotational speed detecting means; 71. a rotary transformer; 8. a running control device; 8a, a wheel speed control device; 9. a driven wheel; 91. a follower wheel; 10. an axle.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

The port transfer vehicle is port transfer equipment for transferring containers and the like, has a large specification, can reach about 10 meters in length, and belongs to large engineering vehicles.

In order to meet the increasing energy-saving and environmental-protection requirements, electric port transfer vehicles are being developed. Different from the traditional fuel oil vehicle, the electric port transfer vehicle is a port transfer vehicle taking electric energy as a power source, belongs to a new energy port transfer vehicle, does not depend on an engine to provide power, but depends on a battery to provide power, and is more energy-saving and environment-friendly.

In addition, in order to reduce labor intensity, save labor costs, and improve work efficiency, unmanned port transfer vehicles are being developed. Unlike traditional vehicles, the operation of the transport vehicle in the unmanned port is not dependent on the operation of a driver on a steering wheel, a pedal plate and the like, but is performed under the operation of remote control equipment such as a remote controller and the like. Therefore, the unmanned port transfer vehicle generally does not have a mechanical control device such as a steering wheel, does not have a cab, and has a remote control device such as a remote controller.

In the development process, how to realize the differential speed control of port transfer vehicles is a difficult problem. Because, the traditional differential mode can not be applied.

Wherein, traditional differential mechanism, the moment of torsion is less, is difficult to satisfy harbour haulage vehicle's big moment of torsion demand to, differential mechanism generally need can work based on the input of steering wheel etc. can not be applicable to the unmanned harbour haulage vehicle that does not have the steering wheel, and simultaneously, differential mechanism restricts the one-way vehicle that traveles, can not satisfy harbour haulage vehicle's two-way demand of traveling.

The mode that a high-power pump station applied to part of engineering vehicles drives a hydraulic motor to run is not suitable for port transfer vehicles, particularly electric port transfer vehicles, due to high energy loss.

In view of the above, the utility model provides a differential control scheme suitable for electronic harbour haulage vehicle is particularly useful for unmanned electronic harbour haulage vehicle.

Fig. 1-3 exemplarily show a port transfer vehicle of the present invention.

Referring to fig. 1-3, in some embodiments of the present invention, port transit vehicle 100 includes a frame 1, a drive wheel 2, a driven wheel 9, a storage battery 4, a travel control device 8, and the like.

The driving wheel 2 and the driven wheel 9 are both arranged on the frame 1, and are the key for realizing walking of the port transfer vehicle 100. The driving wheel 2 and the driven wheel 9 are arranged on the same axle 10 and distributed on the left side and the right side of the frame 1. The driving wheel 2 is driven to drive the driven wheel 9 to rotate, so that the port transfer vehicle 100 can walk and steer.

Referring to fig. 1, in some embodiments, the port transfer vehicle 100 includes two sets of driving wheels 2 and driven wheels 9, one set of driving wheels 2 and driven wheels 9 is disposed on a front axle, the other set of driving wheels 2 and driven wheels 9 is disposed on a rear axle, and two driving wheels 2 are disposed on a diagonal of the frame 1, and two driven wheels 9 are disposed on another diagonal of the frame 1, specifically, in fig. 1, one driving wheel 2 is disposed on an upper left corner of the frame 1, the other driving wheel 2 is disposed on a lower right corner of the frame, and meanwhile, one driven wheel 9 is disposed on an upper right corner of the frame 1, and the other driven wheel 9 is disposed on a lower left corner, forming a diagonal driving and braking structure. It will be understood that the number and arrangement of the primary and secondary driving wheels is not limited to that shown in fig. 1, and for example, in other embodiments, the port transit vehicle 100 may include four driving wheels 2 and four driven wheels 9.

Therein, referring to fig. 1, in some embodiments, the driving wheel 2 comprises two coaxially connected power wheels 21, and the driven wheel 9 comprises two coaxially connected follower wheels 91. For the sake of convenience of distinction, the driving wheel 2 at the upper left corner in fig. 1 is referred to as a front left wheel, the two power wheels 21 at the outer and inner sides of the driving wheel 2 are referred to as a front outer ring outer wheel and a front outer ring inner wheel, respectively, the driving wheel 2 at the lower right corner in fig. 1 is referred to as a right rear wheel, and the two power wheels 21 at the outer and inner sides of the driving wheel 2 are referred to as a rear inner ring outer wheel and a rear inner ring inner wheel, respectively.

The storage battery 4 is used for providing electric power for the port transfer vehicle 100 as power of the whole vehicle, and at the moment, the port transfer vehicle 100 is an electric port transfer vehicle and is a battery-driven transfer device.

Also, in some embodiments, the port transfer vehicle 100 does not include a cab and steering wheel, but rather includes a remote control device that operates under the remote control of the remote control device. At this time, the port transferring vehicle 100 is an unmanned port transferring vehicle, and particularly, an unmanned electric port transferring vehicle.

The travel control device 8 controls the travel of the port transit vehicle 100 in cooperation with the battery 4 and the like.

Referring to fig. 1-2, in some embodiments, the travel control devices 8 correspond one-to-one to the drive wheels 2. For example, when the harbour transfer vehicle 100 comprises two drive wheels 2, the harbour transfer vehicle 100 also comprises two travel control devices 8, each travel control device 8 corresponding to each drive wheel 2, each drive wheel 2 moving under the control of the corresponding travel control device 8.

With continued reference to fig. 1-2, in some embodiments, the travel control device 8 includes a wheel speed control device 8a, and the wheel speed control device 8a corresponds one-to-one to the power wheels 21 in the traction wheels 2. For example, when the driving wheel 2 includes two power wheels 21 coaxially connected, the running control means 8 includes two wheel speed control means 8a, and each power wheel 21 is moved under the control of the corresponding wheel speed control means 8 a.

By providing each power wheel 21 with the wheel speed control device 8a, the traveling speed of each power wheel 21 can be controlled, and the speed of each wheel can be conveniently controlled to meet the required differential relation.

Referring to fig. 2, the rotational speed control device 8a includes the motor 3, the motor controller 6, and the like.

The motor 3 is arranged on the power wheel 21, is electrically connected with the storage battery 4 and is powered by the storage battery 4. The motor 3 drives the power wheels 21 to run under the action of the power provided by the storage battery 4. In some embodiments, the motor 3 is an ac motor.

The motor controller 6 is in signal connection with the motor 3 and controls the running speed of the power wheel 21 by controlling the rotation of the motor 3.

Based on the cooperation of the motor controller 6, the motor 3, the storage battery 4 and the like, the running speed of the power wheels 21 can be controlled, and further the required differential relation among the wheels can be conveniently controlled, so that the electronic differential control process is realized.

Owing to can adapt to great moment of torsion, energy loss is less simultaneously, consequently, the utility model discloses an electron differential control mode is applicable to and uses battery 4 to be the harbour haulage vehicle 100 of power supply (electronic harbour haulage vehicle promptly). And, because need not to rely on the input of steering wheel etc. can realize differential control, consequently, the utility model discloses an electron differential control mode also is applicable to unmanned harbour haulage vehicle, can satisfy harbour haulage vehicle 100's two-way mode of traveling simultaneously. It is visible, the utility model discloses an electron differential control mode is particularly useful for unmanned electronic harbour transfer vehicle.

In addition, under the coordination of the motor controller 6, the motor 3 and the like, the speed of the power wheels 21 can be controlled in real time, and the differential speed of each wheel can be conveniently controlled to change according to actual conditions, so that compared with a traditional differential speed control mode that only a fixed differential value can be realized by a differential mechanism and the like, a more flexible and reliable differential speed control process can be realized.

With continued reference to fig. 2, in some embodiments, the rotational speed control device 8a includes not only the motor 3 and the motor controller 6, but also the rotational speed detection means 7. The rotation speed detecting means 7 detects the actual rotation speed of the power wheel 21. For example, the rotation speed detecting means 7 includes a resolver 71 that detects the actual rotation speed of the power wheel 21 by detecting the actual rotation speed of the motor 3.

The rotating speed detection part 7 is in signal connection with the motor controller 6. The motor controller 6 regulates and controls the speed of the power wheel 21 according to the difference value between the actual rotating speed of the power wheel 21 detected by the rotating speed detecting component 7 and the preset rotating speed of the power wheel 21, so that the actual rotating speed of the power wheel 21 is consistent with the preset rotating speed, and the traveling speed of each wheel is conveniently controlled to meet the required constraint relation.

Under the action of the rotating speed detection part 7, the closed-loop control on the speed of the power wheel 21 can be realized, and the accuracy of speed regulation and control is effectively improved.

In the above embodiments, the motor controller 6 may operate under the control of the vehicle control unit 5. Referring to fig. 2, in some embodiments, the vehicle control unit 5 is electrically connected to the motor controller 6. At this time, the vehicle control unit 5 is in signal connection with the motor 3 through the motor controller 6, and each motor controller 6 controls the motor 3 to work under the control of the vehicle control unit 5.

For example, in some embodiments, the vehicle control unit 5 sends a motor enable control signal, a motor mode control signal, and a motor torque command speed signal to the motor controller 6. The motor enable control signal is used to control motor enable or motor disable. The motor mode control signal is used for controlling the motor to stop, drive forwards or drive backwards. The motor controller 6 drives the motor 3 according to a motor enable control signal, a motor mode control signal, a motor given torque given rotating speed signal and the like sent by the vehicle controller 6, and sends the current state information (such as motor temperature, motor current, controller state code and the like) of the motor 3 to the vehicle controller 5.

For another example, in some embodiments, the vehicle control unit 5 further determines a preset rotation speed of the power wheel 21, so as to determine a difference between the actual rotation speed of the power wheel 21 and the preset rotation speed. At this time, the preset rotation speed of the power wheel 21 is determined by the vehicle control unit 5. For example, the vehicle control unit 5 may determine the preset rotation speed of each wheel according to parameters such as the steering angle of the power wheel 21 and the steering mode of the harbour transfer vehicle 100.

For the sake of understanding, the process of determining the preset rotation speed of the power wheel 21 will be described with reference to fig. 1.

Figure 1 shows a figure eight steering mode. Wherein O is a rotation center; alpha is the rotation angle of the left front wheel; beta is the rotation angle of the right rear wheel; r1 is the distance between the center of the axle connecting the two power wheels 21 of the left front wheel and the rotation center O, and may also be referred to as the turning radius of the left front wheel; r2 is the distance between the center of the axle connecting the two power wheels 21 of the right rear wheel and the center of rotation O, and may also be referred to as the turning radius of the right rear wheel; r is the distance between the center of the axle 10 and the center of rotation O; l is the distance between the front and rear axles, which can also be referred to as the wheelbase; z is the distance between the centres of the two power wheels 21 of the same driving wheel 2, also known as the track. At the same time, the number of revolutions of the front outer ring outer wheel is n1, the number of revolutions of the front outer ring inner wheel is n2, the number of revolutions of the rear inner ring inner wheel is n3, and the number of revolutions of the rear inner ring outer wheel is n 4.

Referring to fig. 1, based on the principle that the angular velocity is equal during steering, in the steering state shown in fig. 1, the above parameters satisfy the following relationships:

n2/n1＝(R1-K/2)/(R1+K/2)；

n3/n1＝(R2-K/2+Z/2)/(R1+KZ2)；

n4/n1＝(R2-K/2-Z/2)/(R1+K/2)。

based on the relationship between the parameters shown in the above equations, if the rotation angle α of the front left front wheel and the preset rotation speed n1 of the rotation speed front outer ring outer wheel are known, the distance R between the center of the axle 10 and the rotation center O can be obtained, the rotation angle β of the right rear wheel and the distance R2 between the center of the axle connecting the two power wheels 21 of the right rear wheel and the rotation center O can be obtained, and the rotation speed n2 of the front outer ring inner wheel, the rotation speed n3 of the rear inner ring inner wheel and the rotation speed n4 of the rear inner ring outer wheel can be obtained, and the preset rotation speeds of the wheels can be obtained.

It can be seen that the vehicle control unit 5 is able to determine the preset rotational speed of each wheel on the basis of the running parameters (e.g. steering angle) and the structural parameters (e.g. wheel base and wheel base) of the harbour transfer vehicle 100.

Referring to fig. 3, in a case that the actual rotation speed of the power wheel 21 is detected in real time by the rotation speed detecting component 7 (e.g., the resolver 71), the rotation speed detecting component 7 may transmit the detected actual rotation speed of the power wheel 21 to the vehicle control unit 5 as a feedback signal, so that the vehicle control unit 5 can compare the actual rotation speed of the power wheel 21 with the preset rotation speed, determine a difference value between the actual rotation speed of the power wheel 21 and the preset rotation speed, and further facilitate the motor controller 6 to adjust the rotation speed of the motor 3 in real time according to the corresponding difference value, thereby implementing real-time adjustment of the speed of each wheel.

When the vehicle-mounted controller works, the vehicle control unit 5 outputs a torque instruction to the motor controller 6 through speed closed-loop control, the motor controller 6 converts direct-current voltage into alternating-current voltage with variable frequency and amplitude and outputs the alternating-current voltage to the motor 3, and the speed and the torque of the motor 3 are regulated and controlled.

The vehicle control unit 5 contains a differential control algorithm, and can determine and distribute different traveling speeds to the inner and outer motors 3 during steering to realize differential control during the steering process.

It can be seen that the port transfer vehicle 100 can form a control closed loop by using the vehicle control unit 5, the motor controller 6, the motor 3 and the resolver 71, calculate the preset rotation speed required by each wheel in different steering modes according to the wheelbase and the wheelbase of the equipment, detect the actual rotation speed of each wheel, determine the difference between the preset rotation speed and the actual rotation speed, and perform differential control by the motor controller 6 according to the instruction sent by the vehicle control unit 5.

It should be noted that the steering mode of the port transit vehicle 100 is not limited to the splay steering mode, and may include other steering modes such as swing tail, skew traveling, and lateral traveling, for example.

The vehicle control unit 5 and the motor controller 6 may be connected by a CAN bus. The CAN bus communication technology is utilized to connect and communicate all the systems, and information such as instructions, feedback and the like is transmitted through the bus, so that the reduction of control circuits is facilitated, and the complexity of the system is reduced.

According to the utility model discloses an on the other hand, the utility model also provides a capable control method of walking of harbour haulage vehicle, and the method includes:

the motor controller 6 is used for controlling the rotation of the motor 3 so as to control the walking speed of the power wheel 21.

Wherein, in some embodiments, controlling the rotation of the motor 3 with the motor controller 6 comprises:

detecting the actual rotation speed of the power wheel 21;

determining the difference value between the actual rotating speed of the power wheel 21 and the preset rotating speed of the power wheel 21;

the motor controller 6 controls the motor 3 to rotate according to the difference value so that the actual rotating speed of the power wheel 21 is consistent with the preset rotating speed of the power wheel 21.

In addition, in some embodiments, the running control method further includes:

before determining the difference value between the actual rotating speed of the power wheel 21 and the preset rotating speed of the power wheel 21, the preset rotating speed of the power wheel 21 is determined by using the vehicle control unit 5 according to the steering mode of the port transfer vehicle 100 and the steering angle of the power wheel 21.

In some embodiments, the Controller described above can be a general purpose Processor, a Programmable Logic Controller (PLC), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable Logic device, discrete Gate or transistor Logic, discrete hardware components, or any suitable combination thereof for performing the functions described herein.

To sum up, the utility model discloses combine the difference nature of new energy vehicle and traditional vehicle, utilize the characteristics of new energy vehicle, utilize motor controller and motor etc. to carry out all-wheel electron differential control, can effectively solve because the moment of torsion is great, and do not have the steering wheel, unable installation differential mechanism and high-power hydraulic power station etc. and the poor problem of the wheel rotation speed that causes, can realize going to walk normally of whole car, improve the precision and the flexibility of differential control, reduce and cause tire wear because of the differential, the risk of tire burst problem even, be suitable for popularization and application on harbour haulage vehicle 100 (especially unmanned electric harbour haulage vehicle).

The above description is only exemplary embodiments of the present invention, and should not be construed as limiting the present invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A port transit vehicle (100), characterized in that it comprises:

a storage battery (4);

a driving wheel (2) comprising a power wheel (21); and

walk controlling means (8), including fast controlling means of wheel (8a), fast controlling means of wheel (8a) includes motor (3) and machine controller (6), motor (3) set up in on power wheel (21), and with battery (4) electricity is connected, be used for under the effect of the power that battery (4) provided, the drive power wheel (21) is walked, machine controller (6) with motor (3) signal connection, and through control motor (3) rotate, control the walking speed of power wheel (21).

2. Port transfer vehicle (100) according to claim 1, wherein the electric motor (3) is an AC motor.

3. Port transfer vehicle (100) according to claim 1, wherein the port transfer vehicle (100) further comprises a vehicle control unit (5), the vehicle control unit (5) being in signal connection with the motor (3) via the motor controller (6).

4. Port transfer vehicle (100) according to claim 3, wherein the vehicle control unit (5) and the motor controller (6) are connected by a CAN bus.

5. Port transfer vehicle (100) according to any of claims 1-4, wherein the wheel speed control device (8a) further comprises a rotational speed detection means (7) for detecting the actual rotational speed of the power wheel (21), the rotational speed detection means (7) is in signal connection with the motor controller (6), and the motor controller (6) regulates the speed of the power wheel (21) according to the difference between the actual rotational speed of the power wheel (21) detected by the rotational speed detection means (7) and the preset rotational speed of the power wheel (21).

6. Port transfer vehicle (100) according to claim 5, wherein the rotation speed detection means (7) comprises a resolver transformer (71).

7. Port transfer vehicle (100) according to claim 5, wherein the preset rotational speed of the powered wheel (21) is determined by a vehicle control unit (5) of the port transfer vehicle (100).

8. Port transfer vehicle (100) according to claim 1, wherein the port transfer vehicle (100) comprises at least two driving wheels (2) and at least two running control devices (8), the at least two running control devices (8) corresponding one-to-one to the at least two driving wheels (2); and/or, action wheel (2) include two coaxial coupling's power wheel (21), it includes two to walk controlling means (8) the fast controlling means of wheel (8a), walk two fast controlling means of wheel (8a) of controlling means (8) with two power wheel (21) one-to-one of action wheel (2).

9. Port transfer vehicle (100) according to claim 1, wherein the port transfer vehicle (100) is an unmanned port transfer vehicle.