CN109080444A - A kind of handling device and handling system, method for carrying based on In-wheel motor driving - Google Patents
A kind of handling device and handling system, method for carrying based on In-wheel motor driving Download PDFInfo
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- CN109080444A CN109080444A CN201810896404.1A CN201810896404A CN109080444A CN 109080444 A CN109080444 A CN 109080444A CN 201810896404 A CN201810896404 A CN 201810896404A CN 109080444 A CN109080444 A CN 109080444A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0418—Electric motor acting on road wheel carriers
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/41865—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system
- G05B19/41895—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system using automatic guided vehicles [AGV]
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- Quality & Reliability (AREA)
- Manufacturing & Machinery (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Optics & Photonics (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention is suitable for new-energy automobile and ground means of transportation technical field, discloses a kind of handling device based on In-wheel motor driving and handling system, method for carrying.Handling device includes that can be used for docking the carrier for locking and driving shifting with load-carrying vehicle, carrier includes carrying frame, and carrying frame is connected with: energy storage device, transfer, alignment device, carrier docking locking device, carrier positioning device, by In-wheel motor driving driving wheel, can plan movement routine or receive movement routine entire car controller.Handling system includes above-mentioned handling device and dispatching control center.Method for carrying uses above-mentioned handling device, handling system.A kind of handling device and handling system, method for carrying based on In-wheel motor driving provided by the present invention, its utilization rate of equipment and installations is high, carrier can flexibly turn in narrow space and can realize that a vehicle is multi-purpose, can substitute manual handling and high-efficient, at low cost.
Description
Technical field
The invention belongs to new-energy automobile and ground means of transportation technical fields, more particularly to a kind of hub motor that is based on to drive
Dynamic handling device and handling system, method for carrying.
Background technique
Warehouse shipping is the link that the enterprises such as any factory or warehouse logistics must face, and especially present enterprise uses
Ground cost is higher and higher, requires the space utilization rate of storage naturally also higher and higher.Various large cargo stackings, transhipment etc. are made
Industry, manual handling low efficiency, safety of workers are difficult to ensure that traditional combustion engine class freight wagon is at high cost, and noise is big, and discharge is harmful
Gas, flexibility is poor, is not suitable in narrow working region.
With the development of social economy and the progress of science and technology, in fields such as warehouse carryings, in order to reduce the work of worker
Industry intensity, raising efficiency and reliability, people have developed various auxiliary, autonomous carrier and robot.In recent years, it leads automatically
Draw the use of vehicle (AGV) as the bright spot in warehouse logistics scheme, to raising enterprises production efficiency, reduces cost, raising product
Quality and management level play certain effect, but since it can only navigate by the magnetic stripe of ground face paste, defined
Magnetic strip line road is run, and can not be run in the region of no magnetic stripe, and kinematic dexterity is inadequate, and efficiency is lower, makees in complex environment
Industry is difficult, and application in many occasions is restricted.In addition, there are also part AGV to use Mecanum wheel as directive wheel, come
Realize the all-around mobile of carrying mechanism, but it is used as power by the way of common inner rotor motor acceleration and deceleration device, increases
Many accessory devices as retarder also increase the loss for reducing power, and such efficiency is with regard to low, and Mike receives
Nurse wheel is easy to snap into sundries, less reliable when rolling.
To sum up, handling system in the prior art is primarily present following deficiency:
1, existing carrying AGV must can not be arrived in the region in no magnetic stripe and be run, very by the navigation operation of ground magnetic stripe
More occasions are all restricted, and utilization rate of equipment and installations is low.
2, the handbarrows such as existing fuel oil transportation fork-truck, at high cost, noise is big, discharge of noxious gases, and each is removed
Fortune fork truck also needs to be equipped with an operator, and use cost is high.
3, existing carrier flexibility is inadequate, can not accomplish the steering of 360 ° of original place, u-turn and all very inconvenient, the nothing of steering
Method adapts to the operation in narrow working region.
Summary of the invention
The present invention is directed at least solve one of above-mentioned technical problem, a kind of carrying dress based on In-wheel motor driving is provided
It sets and handling system, method for carrying, has many advantages, such as utilization rate of equipment and installations height, use cost is low, carrier flexibility is good.
The technical scheme is that a kind of handling device based on In-wheel motor driving, including can be used for and load-carrying vehicle
The load-carrying vehicle is simultaneously driven the carrier for moving to target point by docking locking, and the carrier includes carrying frame, the carrier
Frame is connected with:
Multiple driving wheels by In-wheel motor driving,
For drive the driving wheel to turn to and transfer with steering motor,
Be aligned for controlling the carrying frame load-carrying vehicle setting position alignment device,
For docking and locking with the load-carrying vehicle carrier docking locking device,
Carrier positioning device for being positioned to carrier,
According to carrying truck position and loading truck position planning movement routine or movement routine can be received and control carrier
Entire car controller and
For providing the energy storage device of electric energy；
The hub motor and steering motor are connected to hub motor control device and steering motor controller, wheel hub electricity
Machine controller and steering motor controller are electrically connected to the entire car controller.
Optionally, the carrying frame is u-shaped, and the driving wheel is divided into the four corners of the carrying frame, and every
A driving wheel is respectively connected with the transfer；Alternatively,
The carrying frame includes first frame body and two the second frame bodies, and two second frame bodies are arranged side by side and are separated by
Setting, the both ends of first frame body are respectively fixedly connected with two first body end portions or middle part；The energy storage device point
It is not fixed on the bottom of second frame body, the hub motor control device, steering motor controller, entire car controller, carrying
Vehicle positioning device and alignment device are fixed on the bottom of first frame body, and the carrier docking locking device is set to described
At the interior angle of first frame body and second frame body.
Optionally, the handling device further includes that can dock locking and isolated load-carrying vehicle, the load with the carrier
Lorry includes loading vehicle frame, and the loading vehicle frame is connected with
Universal wheel component,
Alignment sensing device for cooperating with the alignment device,
For docked with the carrier locking device cooperation load-carrying vehicle docking locking device and
Load-carrying vehicle positioning device for being positioned to load-carrying vehicle.
Optionally, the loading vehicle frame is square, and the alignment sensing device, load-carrying vehicle docking locking device are provided with
Four groups, alignment sensing device described in each group, load-carrying vehicle docking locking device quadrangularly are symmetrical arranged.
Optionally, the bottom of the carrying frame is provided with the steering wheel ontology driven by the transfer, the driving
Wheel is connected to the steering wheel ontology；
The driving wheel includes wheel body and the hub motor, and the hub motor includes motor shaft, rotor assembly and determines
Sub- assembly, the wheel body fixation are placed on outside the rotor assembly, and the rotor assembly rotation is placed on outside the field frame assembly, described
Field frame assembly fixation is placed on the motor shaft, and the motor shaft is connected to the steering wheel ontology.
Optionally, the hub motor and the steering wheel ontology are also connected with electromagnetic brake assembly, and the electromagnetic brake is total
At including electromagnetic coil and induction module, the electromagnetic coil is installed on the steering wheel ontology, and the induction module passes through connection
Axis connection is oppositely arranged in the rotor assembly, the electromagnetic coil with the induction module.
Optionally, the transfer includes the steering motor, first gear and second gear, the steering motor peace
Loaded on the steering wheel ontology, the shaft of the steering motor is connected to or is connected to the first gear by retarder, described
Second gear is connected to the bottom of the carrying frame or is connected to the bottom of the carrying frame by support plate；Described first
Gear is engaged with the second gear, and the first gear can described in the driving lower edge of steering motor second gear
It circumferentially rotates, and the steering wheel ontology, wheel body and hub motor is driven to turn to simultaneously.
Optionally, the alignment device is the laser aligner for being set to the carrying frame bottom.
Optionally, the carrier docking locking device includes the electromagnet for being fixedly connected on the carrying frame bottom.
Optionally, load-carrying vehicle docking locking device includes being fixedly installed on the loading vehicle frame and can be with the electromagnetism
Electromagnet sensor block of the iron phase to docking.
Optionally, carrier docking locking device includes the limiter for being fixedly connected on the carrying frame, the loading
It includes the limiter sensor block for being fixedly installed on the loading vehicle frame that vehicle, which docks locking device,.
The present invention also provides a kind of handling system, including a kind of above-mentioned handling device based on In-wheel motor driving,
Further include for carrier, load-carrying vehicle in shipping target point and the handling device are positioned and to the carrier into
Row path planning, scheduling dispatching control center.
Optionally, the dispatching control center has for storing the memory module for carrying site map；And/or
The dispatching control center has the first communication module that real-time communication is carried out with the carrier, the carrier
Entire car controller have for receiving the instruction of the dispatching control center and feeding back the second communication module of real time information.
The present invention also provides a kind of method for carrying of handling system, remove using above-mentioned handling device or using above-mentioned
Fortune system, comprising the following steps:
Dispatching control center positions carrier and load-carrying vehicle, the entire car controller of the carrier and the scheduling
Control centre carries out real time communication and receives the instruction of dispatching control center and feed back real time information, and the entire car controller passes through
Wheel hub electric machine controller and steering motor controller are controlled to the traveling of driving wheel and turns to progress Collaborative Control, the carrier
The planning path or location information issued according to the dispatching control center is travelled to by load-carrying vehicle, the alignment dress of the carrier
The aligner sensor block cooperating with the load-carrying vehicle is set, the carrier is aligned with load-carrying vehicle automatically, the carrier
Carrier docks locking device and docks locking device cooperating with the load-carrying vehicle of the load-carrying vehicle, makes carrier automatically and loading
Lock connects surely, and the carrier drives the load-carrying vehicle to drive towards set point along setting transport path；
The carrier and the load-carrying vehicle are sailed after being detached to specified point.
A kind of handling device and handling system, method for carrying based on In-wheel motor driving provided by the present invention uses
The load-carrying vehicle that DYN dynamic carrier and combination can couple and be detached from, utilization rate of equipment and installations is high, at low cost, noiseless, does not discharge
Pernicious gas, carrier and load-carrying vehicle are not necessarily to be equipped with driver, operator, and use cost is low.Transfer, which has, turns to electricity
It machine and can be used for that the driving wheel is driven integrally to turn to, the traveling of each driving wheel of carrier and turn to can independently, flexibly
It adjusts, makes carrier that can realize that 360 ° of steerings, 90 ° of right-angle steerings etc. turn at any angle in narrow space.Carrier
Driving wheel use hub motor, reduce the attachmentes such as retarder, structure is simple, easy to maintain, improves efficiency, and saves energy
Source, carrier is long cruise duration, overcomes Mecanum wheel and is easy the shortcomings that snapping into sundries, high reliablity when rolling.It carries
Vehicle can couple with load-carrying vehicle and be detached from and realize that a vehicle is multi-purpose, improves the utilization rate of equipment, i.e. raising production efficiency, save at
This.By setting entire car controller, dispatching control center etc., carrier and load-carrying vehicle can be run for a long time day and night, be subtracted
Few artificial intervention, saves human cost, improves operating efficiency, can substitute manual handling and high-efficient.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to needed in the embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for ability
For the those of ordinary skill of domain, without creative efforts, it can also be obtained according to these attached drawings other attached
Figure.
Fig. 1 is carrier and load-carrying vehicle in a kind of handling device based on In-wheel motor driving provided in an embodiment of the present invention
Stereoscopic schematic diagram when disengaging (when not coupling)；
Fig. 2 is carrier and load-carrying vehicle in a kind of handling device based on In-wheel motor driving provided in an embodiment of the present invention
Stereoscopic schematic diagram when connection；
Fig. 3 is that the solid of carrier in a kind of handling device based on In-wheel motor driving provided in an embodiment of the present invention is shown
It is intended to；
Fig. 4 is that the solid of load-carrying vehicle in a kind of handling device based on In-wheel motor driving provided in an embodiment of the present invention is shown
It is intended to；
Fig. 5 is wheel hub steering wheel driving system in a kind of handling device based on In-wheel motor driving provided in an embodiment of the present invention
The stereoscopic schematic diagram of system (driving wheel and transfer)；
Fig. 6 is wheel hub steering wheel driving system in a kind of handling device based on In-wheel motor driving provided in an embodiment of the present invention
The diagrammatic cross-section of system (driving wheel and transfer)；
Fig. 7 is a kind of reference flow sheet of method for carrying provided in an embodiment of the present invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
It should be noted that term " setting ", " connection ", " docking ", " electrical connection " etc. shall be understood in a broad sense, for example, can
To be direct setting, connection, docking, electrical connection, it can also be arranged indirectly by component placed in the middle, center configuration, be connected, right
It connects, be electrically connected.
If in addition, have in the embodiment of the present invention " longitudinal direction ", " transverse direction ", " length ", " width ", " thickness ", "upper", "lower",
The orientation or positional relationships of instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside"
Term is merely for convenience of to be based on the orientation or positional relationship shown in the drawings or conventional placement status or use state
The description present invention and simplified description, rather than structure, feature, device or the element of indication or suggestion meaning must have specifically
Orientation or positional relationship nor is it necessary that and be constructed and operated in a specific orientation, therefore is not considered as limiting the invention.
In the description of the present invention, unless otherwise indicated, the meaning of " plurality " is two or more.
Described each particular technique feature and embodiment in the case of no contradiction can in a specific embodiment
To be combined by any suitable means, such as different realities can be formed by the combination of different particular technique features
Apply mode, in order to avoid unnecessary repetition, the present invention in each particular technique feature various combinations of possible ways no longer
It explains separately.
As shown in Figures 1 to 6, a kind of handling device based on In-wheel motor driving provided in an embodiment of the present invention, including
Electrodynamic type and by the carrier of In-wheel motor driving 1 (electrocar), which can be used for docking locking with load-carrying vehicle 2
It (connection) and the load-carrying vehicle 2 is driven moves (including traction, dragging, promotion etc.) to target point, cargo can be mounted on load-carrying vehicle 2
3, load-carrying vehicle 2 can also be temporarily zero load.Target point can be break bulk point or loading point etc., and carrier 1, which drives, moves coupled load-carrying vehicle 2
To target point, carrier 1 can be detached from the load-carrying vehicle 2 coupled and (release and couple) and drive towards next target point.The carrying
Vehicle 1 includes carrying frame 11, and the carrying frame 11 is connected with driving wheel 110, transfer, alignment device 17, carrier pair
Locking device, carrier positioning device 15, entire car controller 16 and energy storage device 12 are connect, energy storage device 12 may include rechargeable lithium
Battery, with for providing electric energy, each electricity consumption device (such as hub motor, steering motor 1014, alignment device 17, carrier pair
Connect locking device, carrier positioning device 15, entire car controller 16 etc.) energy storage device 12 can be directly or indirectly connected to.When
So, it is possible to understand that ground, energy storage device 12 can also be for other new energy devices etc., such as hydrogen fuel cell, graphene battery etc.,
It belongs to the scope of protection of the present invention.By using DYN dynamic carrier 1 and the load-carrying vehicle 2 of the unpowered device of combination, equipment
Utilization rate is high, at low cost, noiseless, not discharge of noxious gases, and carrier 1 and load-carrying vehicle 2 are without being equipped with driver, operation
Member, use cost are low.
The hub motor and steering motor 1014 are connected to hub motor control device and steering motor controller 14,
Each hub motor is correspondingly connected to a hub motor control device 13, and each steering motor 1014 can be correspondingly connected to one and turn
To electric machine controller 14, the traveling of each driving wheel 110 and turn to can independently, flexible modulation, and driving wheel 110 uses wheel
Hub motor overcomes Mecanum wheel in the prior art and is easy the shortcomings that snapping into sundries, high reliablity when rolling.Each wheel hub electricity
Machine controller 13 and each steering motor controller 14 may be electrically connected to the entire car controller 16.In concrete application, each wheel hub
Electric machine controller 13 and each steering motor controller 14 can be individual devices, also can integrate in entire car controller 16.Vehicle
Controller 16 can control the driving direction of carrier 1, travel speed etc., and entire car controller 16 can receive load-carrying vehicle to be coupled
2 location information, and loading to be coupled is reached according to the positional information calculation of own coordinate location information and load-carrying vehicle to be coupled 2
The path of vehicle 2 can also directly receive preset path.
In the present embodiment, entire car controller 16 can also be communicated with dispatching control center, and dispatching control center can be real-time
Or timing position carrier 1 and load-carrying vehicle 2 location information, and dispatching control center can store carry place map, can
To dispatch corresponding carrier 1 according to the position of loading and unloading cargo point in the position of carrier 1 and load-carrying vehicle 2, map, and can be to
The location information of the instruction of 1 sending action of carrier and load-carrying vehicle 2, the information for loading and unloading loading target point etc..Dispatching control center is also
The status information etc. of carrier 1 can be obtained, for example whether 1 free time of carrier, current driving path, traveling terminal etc..Carrier 1
More are generally provided with load-carrying vehicle 2, and the quantity of load-carrying vehicle 2 can be more than the quantity of carrier 1, load-carrying vehicle 2 is loading and unloading
When loading object etc. is not easy to mobile, carrier 1 can be detached from this and be not easy to mobile load-carrying vehicle 2 and drive towards another to need to move
Load-carrying vehicle 2, utilization rate of equipment and installations is high, handling efficiency is high.In concrete application, dispatching control center can be with priority scheduling distance wait join
Lorry 2 is carried relatively closely and in the free time or i.e. by idle carrier 1.I.e. entire car controller 16 can receive dispatching control center
The command information and Real-time Feedback oneself state information of sending, command information may include at least one following: be moved to target
Point (may include handling loading point, 2 coordinate points of load-carrying vehicle to be coupled, charge point etc.) is moved to target by the driving path of planning
Point, carrier 1 and the docking of load-carrying vehicle 2 and separation etc..In the present embodiment, entire car controller 16 can receive load-carrying vehicle 2 to be coupled and sit
Punctuate and automatic path planning can also directly receive the preset path planned by dispatching control center.Certainly, as alternative
One of case or improvement project, entire car controller 16 can also have the function of Autonomous Scheduling, i.e., entire car controller 16, which also can store, removes
The map in place is transported, can be planned and be carried according to the position of loading and unloading cargo point in the position of carrier 1 and load-carrying vehicle 2, map
The driving path of vehicle 1.Driving wheel 110 may be provided with multiple and respectively by In-wheel motor driving, and the dynamical system of carrier 1 is integrated
Hub motor reduces the attachmentes such as retarder as vehicle power, and structure is simple, easy to maintain, improves efficiency, and saves energy
Source, carrier are long 1 cruise duration.Transfer has steering motor 1014 and can be used for driving the driving wheel 110 whole
It turns to, every group of (a) driving wheel 110 is correspondingly arranged on one group of transfer, and carrier 1 can realize 360 ° in narrow space
Steering, 90 ° of right-angle steerings etc. turn at any angle.Alignment device 17 can be used for controlling the carrying frame 11 be aligned it is described
2 setting position of load-carrying vehicle, so that carrier 1 and load-carrying vehicle 2 can be docked accurately.Carrier docking locking device can be used for and institute
State load-carrying vehicle 2 to dock and lock, carrier 1 allow to drive the synchronous traveling of transfer lorry 2, i.e., carrier 1 can by traction or
The modes such as promotion make load-carrying vehicle 2 with the traveling of carrier 1 to target point, travel to target point, and carrier docks locking device can
So that carrier 1 and load-carrying vehicle 2 are detached from, i.e., carrier 1, which can according to need, travels to next set point, such as travels to another
By the load-carrying vehicle 2 for needing to drive, carrier 1 can a vehicle it is multi-purpose, improve the utilization rate of equipment, i.e. raising production efficiency, save at
This.Carrier positioning device 15 can be used for positioning carrier 1, so that the positioning coordinate of carrier 1 is obtained, convenient for nearest
Call carrier 1.Entire car controller 16 can be used for according to 1 position of carrier and 2 position of load-carrying vehicle planning movement routine or connect
Receive movement routine.That is the coordinates of targets and planning path that can receive dispatching control center transmission of entire car controller 16, can also be with
Directly receive the planning path that dispatching control center is sent, carrier 1 and load-carrying vehicle 2 can long-play day and night, reduce
Human cost is saved in artificial intervention, improves operating efficiency.
Specifically, the handling device further includes that locking and isolated load-carrying vehicle 2 can be docked with the carrier 1, described
Load-carrying vehicle 2 includes loading vehicle frame 20, and the loading vehicle frame 20 is connected with universal wheel component 260, is used for and the alignment device 17
The alignment sensing device 23 of cooperation, the load-carrying vehicle docking locking device for docking locking device cooperation with the carrier and use
In the load-carrying vehicle positioning device 24 positioned to load-carrying vehicle 2, load-carrying vehicle positioning device 24 can be sent to dispatching control center
The coordinate information of itself, and/or, load-carrying vehicle positioning device 24 can also be directly to 1 sharing position information of carrier.
Specifically, the carrying frame 11 can be u-shaped, and there are four the settings of driving wheel 110 and is divided into described
The four corners of carrying frame 11, and each driving wheel 110 is respectively connected with the transfer.Carrying frame 11 is u-shaped,
It can be placed at 20 three faces in outside of loading vehicle frame of load-carrying vehicle 2, and connection reliability is high.
Specifically, the carrying frame 11 includes first frame body 111 and two the second frame bodies 112, the first frame body 111
It can be in linear type with two second frame bodies 112.Carrying frame 11 can be formed with integral solder, i.e. the first frame body 111 and
Two frame bodies 112 integrally molded can form.Two second frame bodies 112 are arranged side by side and are separated by setting, and the two of first frame body 111
End is respectively fixedly connected with two 111 ends of the first frame body or close to end, forms the body frame structure for automotive of U-shaped, can save
Space；Certainly, in concrete application, the both ends of the first frame body 111 can also be respectively fixedly connected with two 111 middle parts of the first frame body
Place forms I-shaped body frame structure for automotive etc., also belongs to protection scope of the present invention, and I-shaped body frame structure for automotive can connect two
Load-carrying vehicle 2.In the present embodiment, by taking the carrying frame 11 of U-shaped as an example.
Specifically, the energy storage device 12 includes two groups of cell apparatus, and two groups of cell apparatus are individually fixed in described in two
The bottom of second frame body 112 provides necessary power supply to entire electrodynamic type carrier 1, and can play the role of stable vehicle body.Two
Group cell apparatus can be in parallel or series.The hub motor control device 13, entire car controller 16, is removed steering motor controller 14
Fortune vehicle positioning device 15 and alignment device 17 are fixed on the bottom of first frame body 111, and carrier positioning device 15 can be set
It is placed in the middle part of the first frame body 111, locating effect is good.The carrier docking locking device may be disposed at first frame body
111 and second frame body 112 interior angle at.
Specifically, carrier docking locking device may include two electromagnetism for being fixedly connected on 11 bottom of carrying frame
Iron 19, load-carrying vehicle docking locking device include being fixedly installed on the loading vehicle frame 20 and can be opposite with the electromagnet 19
The electromagnet sensor block 21 of docking.Two electromagnet 19 are respectively arranged at two interior angles of carrying frame 11 (U-shaped), corresponding
Ground is provided at the exterior angle of loading vehicle frame 20 and docks the electromagnet sensor block 21 that locking device is used cooperatively with 19 formula of electromagnet.
Carrier docking locking device further includes the limiter 18 for being fixedly connected on the carrying frame 11, and load-carrying vehicle docks locking device
It further include the limiter sensor block 22 for being fixedly installed on the loading vehicle frame 20.Limiter 18 can be installed on carrying frame 11
On the inside of lower section.
In concrete application, carrier 11 can be by wheel hub steering wheel drive system 10 (driving wheel 110 and transfer), carrier
It is frame 11, battery pack (energy storage device 12), hub motor control device 13, steering motor controller 14, carrier positioning device 15, whole
Vehicle controller 16, laser aligner (alignment device 17), limiter 18, electromagnet 19 etc. are constituted.
Specifically, the alignment device 17 is the laser aligner for being set to 11 bottom of carrying frame, certainly, described
Alignment device 17 can also be all belonged to the scope of protection of the present invention using infrared type aligner etc..
In concrete application, carrying frame 11 can avoid loading at U-shaped, the U-shaped design of carrying frame 11 by welded steel
The interference of 4 universal wheels on vehicle 2, and space can be saved.Wheel hub steering wheel drive system 10 is respectively arranged in carrying frame 11
4 angles in bottom position, to entire electrodynamic type carrier 1 provide power.2 (group) battery packs are respectively arranged in carrying frame
11 two sides of the bottom provide necessary power supply to entire carrier 1, and can play the role of stable vehicle body.Hub motor control
Device 13 is mountable to 11 lower section of carrying frame, controls hub driven motor assembly (the wheel hub electricity in wheel hub steering wheel drive system 10
Machine).Steering motor controller 14 is mountable to 11 lower section of carrying frame, controls the steering motor in wheel hub steering wheel drive system 10
1014.Carrier positioning device 15 is mountable to 11 lower section of carrying frame, and dispatching control center passes through carrier positioning device 15
Carrier 1 is positioned in real time.Entire car controller 16 is mountable to 11 lower section of carrying frame, and entire car controller 16 and scheduling are controlled
Center processed carries out real time communication, receives the various instructions and feedback real time information of dispatching control center, and passes through 4 wheels of control
Hub electric machine controller 13 and 4 steering motor controller 14 carries out Collaborative Control to 4 wheel hub steering wheel drive systems 10 to realize,
The steering for adjusting each wheel hub steering wheel drive system 10 can be realized carrier 1 and realize the functions such as 360 ° of pivot studs.Laser pair
Quasi- device is installed on 11 lower section of carrying frame, the laser aligner sensor block in laser aligner (alignment device 17) and load-carrying vehicle 2
(alignment sensing device 23) is used cooperatively, and is coupled so that carrier 1 is aligned with load-carrying vehicle 2 automatically.Carrier 1 slowly with loading
During the alignment connection of vehicle 2, when the limiter sensor block 22 installed on load-carrying vehicle 2 touches limiter 18, then show to remove
Fortune vehicle 1 has been run in place, is no longer advanced to the direction for continuing close load-carrying vehicle 2, and carrier 1 is aligned in place with load-carrying vehicle 2, electricity
Magnet 19, which is powered, generates magnetic field, is attracted electromagnet sensor block 21, load-carrying vehicle 2 is reliably linked together with carrier 1, carrier
1 can drive the synchronous traveling of load-carrying vehicle 2.
Specifically, the shape of the loading vehicle frame 20 can be square, the alignment sensing device 23, load-carrying vehicle docking
Locking device is provided with four groups, and alignment sensing device 23 described in each group, load-carrying vehicle docking locking device quadrangularly are symmetrical arranged.
That is the four sides of loading vehicle frame 20 be provided with for carrier 1 it is matched be aligned sensing device 23, load-carrying vehicle docking locking dress
It sets, carrier 1 can dock locking from any one direction in 4 directions with load-carrying vehicle 2, and flexibility is high, without adjusting repeatedly
Orientation, the angle of whole load-carrying vehicle 2, especially load-carrying vehicle 2 are located at when having barrier by the corner or load-carrying vehicle 2 in place, Ke Yiti
The speed and efficiency that high carrier 1 is docked with load-carrying vehicle 2.
Specifically, load-carrying vehicle positioning device 24 can be set at the bottom center of loading vehicle frame 20, and locating effect is good.It carries
The bottom of lorry frame 20 can also be fixedly connected with supplying cell.The electricity consumptions devices such as load-carrying vehicle positioning device 24 may be electrically connected to
Supplying cell.
In concrete application, load-carrying vehicle 2 is incuded by loading vehicle frame 20, electromagnet sensor block 21, limiter sensor block 22, alignment
Device 23 (laser aligner sensor block), load-carrying vehicle positioning device 24, caster bracket 25, universal wheel 26, plate 27 etc. are constituted.
Loading vehicle frame 20 can be welded by steelframe, and plate 27 is securable to 20 top of loading vehicle frame, and cargo 3 can be equipped on
On the plate 27 of load-carrying vehicle 2.20 bottom of loading vehicle frame is mountable 4 electromagnet sensor blocks 21, electromagnet sensor block 21 with remove
The electromagnet 19 installed on fortune vehicle 1 is used cooperatively；20 bottom of loading vehicle frame is mountable 8 limiter sensor blocks 22, limiter
The limiter 18 that sensor block 22 is installed with carrier 1 is used cooperatively；20 bottom of loading vehicle frame is mountable 4 laser aligner senses
Block is answered, the laser aligner (alignment device 17) installed on laser aligner sensor block and carrier 1 is used cooperatively, carrier 1
It can be docked from any one direction in 4 different directions with load-carrying vehicle 2.Load-carrying vehicle positioning device 24 is installed on loading
20 bottom center of vehicle frame, dispatching control center position loading trolley by load-carrying vehicle positioning device 24 in real time.4 universal
Wheel 26 is respectively arranged on 4 caster brackets 25, and 4 caster brackets 25 are respectively installed to four of 20 bottom of loading vehicle frame
The position at angle, 4 universal wheels 26 support the weight of entire load-carrying vehicle 2 and cargo 3, and are followed by the dragging of carrier 1, turn together
Dynamic (traveling) arrives destination.The shape of entire load-carrying vehicle 2 (loading vehicle frame 20) is in regular quadrangle, the electromagnet sensor block of bottom
21, the components such as limiter sensor block 22, laser aligner sensor block, caster bracket 25, universal wheel 26 are all quadrangularlies
It is symmetrically installed, carrier 1 can be docked from 4 directions with load-carrying vehicle 2.
Specifically, the bottom of the carrying frame 11 is provided with the steering wheel ontology 1003 driven by the transfer, institute
It states driving wheel 110 and is connected to the steering wheel ontology 1003.Driving wheel 110 and the whole steering of steering wheel ontology 1003, steering angle
It is maximum up to 360 degree, can in small space inside turn, turn around, flexibility is good.
Specifically, the driving wheel 110 includes wheel body (rubber tire) 1004 and the hub motor, and the hub motor includes
Motor shaft 1009, rotor assembly 1005 and field frame assembly 1006, the fixation of wheel body 1004 are placed on outside the rotor assembly 1005,
The rotation of rotor assembly 1005 is placed on outside the field frame assembly 1006, and the fixation of field frame assembly 1006 is placed on the motor shaft
1009, the motor shaft 1009 is connected to the steering wheel ontology 1003.
Specifically, the hub motor and the steering wheel ontology 1003 are also connected with electromagnetic brake assembly, and the electromagnetism is stopped
Vehicle assembly includes electromagnetic coil 1011 and induction module 1012, and the electromagnetic coil 1011 is installed on the steering wheel ontology 1003,
The induction module 1012 is connected to the rotor assembly 1005, the electromagnetic coil 1011 and the induction mould by connecting shaft
Block 1012 is oppositely arranged.
In concrete application, hub motor includes rotor assembly 1005, field frame assembly 1006, motor shaft 1009, fore bearing
1007, rear bearing 1008 etc. is assembled, and fore bearing 1007, rear bearing 1008 are connected to motor shaft 1009, and hub motor passes through
Motor shaft 1009 is installed on steering wheel ontology 1003, and wheel body 1004 (rubber tire) is mountable in 1005 outer surface of rotor assembly, wheel body
1004 (rubber tires) are rotated together with rotor assembly 1005.Electromagnetic brake assembly is by electromagnetic coil 1011 and 1012 groups of induction module
At, electromagnetic coil 1011 is installed on steering wheel ontology 1003, induction module 1012 by connecting shaft 1010 and ring flange 1013 with
The rotor assembly 1005 of hub motor is connected.Electromagnetic coil 1011 generates induced magnetic field after being powered, and induction module 1012 is incuded
Magnetic field become forbidding from rotation after being attracted it is motionless, hub motor also from rotary state become forbidding therewith it is motionless, so playing brake
Vehicle effect.
Specifically, the transfer includes the steering motor 1014, first gear 1017 and second gear 1002, institute
It states steering motor 1014 and is installed on the steering wheel ontology 1003, the shaft of the steering motor 1014 is connected to or passes through retarder
1015 are connected to the first gear 1017, and the second gear 1002 is connected to the bottom of the carrying frame 11 or passes through branch
Fagging 1001 is connected to the bottom of the carrying frame 11；The first gear 1017 is engaged with the second gear 1002, and
The first gear 1017 can described in the driving lower edge of the steering motor 1014 second gear 1002 circumferentially rotate, and it is same
When drive the steering wheel ontology 1003, wheel body 1004 and hub motor to turn to.The diameter of first gear 1017 can be less than second
The diameter of gear 1002.
In concrete application, transfer (steering system assembly) can be by steering motor 1014, retarder 1015, the small tooth of steering
The composition such as (first gear 1017) is taken turns, steering system assembly is mounted on steering wheel ontology 1003 by steering bracket.Turn to canine tooth
Wheel (second gear 1002) is installed on steering wheel ontology 1003, and engages with pinion gear (first gear 1017) is turned to, support plate
1001 are mounted on one side in steering gear wheel (second gear 1002), and another side is installed on carrying frame 11.Steering system assembly
In steering motor 1014 be powered after drive turn to pinion gear (first gear 1017) rotation, turn to pinion gear (first gear
1017) and gear wheel (second gear 1002) engagement is turned to, so turning to pinion gear (first gear 1017) with steering wheel ontology
1003, steering system assembly, hub motor assembly are together around gear wheel (second gear 1002) rotation is turned to, to realize
Steering wheel ontology 1003 and driving wheel 110 carry out the effect of 360 ° of steerings.
The embodiment of the invention also provides a kind of handling systems, including a kind of above-mentioned carrying based on In-wheel motor driving
Device (including above-mentioned carrier 1 and load-carrying vehicle 2), further includes dispatching control center.Load-carrying vehicle 2 is provided with more, carries
For vehicle 1 at least provided with one, the quantity of load-carrying vehicle 2 is more than the quantity of carrier 1.Dispatching control center can be used for shipping target
Carrier 1, load-carrying vehicle 2 are positioned and carry out path planning, scheduling to the carrier 1 in point and the handling device, also
It can be used for controlling the connection and disengaging of carrier 1, load-carrying vehicle 2.Dispatching control center can be to more carriers 1, load-carrying vehicle 2
Real time position positioned, and combining target point position (loading and unloading goods location point) etc. to more carriers 1, load-carrying vehicle 2 into
Row scheduling, carrier 1 can a vehicle it is multi-purpose, can run for a long time day and night, reduce artificial intervention, save human cost,
It improves the utilization rate of equipment, operating efficiency and has saved cost to improve production efficiency.In concrete application, in scheduling controlling
The heart can be the industrial PC etc. with radio receiving transmitting module, of good reliability.One of as an alternative, dispatching control center can also
To be integrated in the entire car controller 16 of carrier 1.
Specifically, the dispatching control center, which has, is used to store the memory module for carrying site map, in memory module
It can have coordinate, the coordinate of barrier etc. of each aiming spot (loading and unloading goods location point), in order to can quickly calculate
The path of carrier 1, high reliablity.
Specifically, the dispatching control center has the first communication module that real-time communication is carried out with the carrier 1, institute
The entire car controller 16 for stating carrier 1 has for receiving the instruction of the dispatching control center and feeding back the second of real time information
Communication module.First communication module, the second communication module can for mobile communication module (such as the standards such as 4G, 5G communication module) or
WIFI module, bluetooth module etc..
A kind of handling device and handling system based on In-wheel motor driving, handling device provided by the embodiment of the present invention
And handling system is simple for structure, easy to operate, reduces design cost and use cost, carrier 1 can be in narrow space
It realizes that original place 360 ° of steerings, right-angle steerings etc. turn at any angle, has the characteristics that be easily assembled, dismantle, safeguard.And it distinguishes
In present automatic guided vehicle (AGV), does not need ground face paste magnetic stripe and navigate, carrier 1 can be according to dispatching control center
Instruction is automatic to carry out path planning, operation can be carried out in any region, without any limitation.
The embodiment of the invention also provides a kind of method for carrying of handling system, using a kind of above-mentioned handling system, packet
Include following steps:
Dispatching control center positions carrier 1 and load-carrying vehicle 2, the entire car controller 16 of the carrier 1 and institute
Dispatching control center is stated to carry out real time communication and receive the instruction and feedback real time information of dispatching control center, the full-vehicle control
Device 16 cooperates with the traveling of driving wheel 110 and steering by control wheel hub electric machine controller 13 and steering motor controller 14
Control, the planning path or location information that the carrier 1 is issued according to the dispatching control center travel attached to load-carrying vehicle 2
Closely, the aligner sensor block cooperating of the alignment device 17 of the carrier 1 and the load-carrying vehicle 2, the carrier 1 are automatic
It is aligned with load-carrying vehicle 2, the carrier docking locking device of the carrier 1 docks locking dress with the load-carrying vehicle of the load-carrying vehicle 2
Cooperating is set, carrier 1 is locked with load-carrying vehicle 2 automatically and connects, the carrier 1 drives the load-carrying vehicle 2 to remove along setting
Set point is driven towards in fortune path；
The carrier 1 is sailed to another load-carrying vehicle 2 nearby after being detached from the load-carrying vehicle 2 or is sailed to another specified point (example
Such as charge point).After the carrier 1 is sailed after being detached from load-carrying vehicle 2 to another load-carrying vehicle 2, carrier 1 another can be carried
The connection of lorry 2 locks and drives towards specified coordinate point, high degree of automation.
Specifically, carrier 1 can comprise the following steps that the traveling of carrier 1 to load-carrying vehicle with the locking connection of load-carrying vehicle 2 automatically
Near 2,1 laser aligner of carrier (alignment device 17) (is directed at sensing device with the laser aligner sensor block on load-carrying vehicle 2
23) it is aligned, so that carrier 1 is aligned with load-carrying vehicle 2 automatically and prepares to couple.After carrier 1 is aligned with load-carrying vehicle 2, carrier 1
Slowly to load-carrying vehicle 2 during, when the limiter sensor block 22 installed on load-carrying vehicle 2 touches limiter 18, then
Show carrier 1 close to close load-carrying vehicle 2 in place, is not continued to, carrier 1 is aligned in place with load-carrying vehicle 2, electromagnet 19
It is powered and generates magnetic field, be attracted electromagnet sensor block 21, connected between electromagnet sensor block 21 and electromagnet 19 by electromagnetic force, carried
Lorry 2 is reliably linked together with carrier 1, and carrier 1 can drive the synchronous traveling of load-carrying vehicle 2.
Specifically, carrier 1 can comprise the following steps that electromagnet 19 powers off with the disengaging of load-carrying vehicle 2 automatically, and magnetic field disappears,
Electromagnetic force between the electromagnet sensor block 21 and electromagnet 19 of load-carrying vehicle 2 disappears, and carrier 1 can sail out of load-carrying vehicle 2.
If Fig. 7 is carrying Dispatching Control System flow chart of the invention, dispatching control center (can also claim dispatching control device
Or Dispatching Control System) it is stored with the layout map of entire warehouse (carrying place), and to carrier 1 (electrocar 1), load
Lorry 2 (loading trolley), each shipping target point etc. are positioned in real time, and dispatching control center can carry out reality to carrier 1
Shi Tongxin.
Carrying process can refer to as follows: dispatching control center positions each equipment and point first, then dispatches
Control centre sends instructions to carrier 1, and instruction carrier 1 goes to the position of load-carrying vehicle 2, and carries load-carrying vehicle 2.Carrier 1
After the specific location for being instructed and being obtained load-carrying vehicle 2, automatic calculate cooks up optimal operating path, and carrier 1 reaches
Locking (connection) is docked with load-carrying vehicle 2 behind position.Carrier 1 feeds back current status information to dispatching control center, scheduling control
Center processed issues a command to carrier 1 again, indicates that load-carrying vehicle 2 is transported to destination by carrier 1.Carrier 1 gets destination
Location information, carry out path planning, unlocked after load-carrying vehicle 2 is transported to destination, by load-carrying vehicle 2 put down further according to scheduling control
The instruction at center processed carries out next step movement.In this way, which entire shipment process is succinct and quick, artificial intervention is reduced, and
And the efficiency and reliability of operation is improved, save production cost.
A kind of handling device and handling system, carrying side based on In-wheel motor driving provided by the embodiment of the present invention
Method, using DYN dynamic carrier 1 and the load-carrying vehicle 2 of the unpowered device of combination, utilization rate of equipment and installations is high, at low cost, noiseless,
Without being equipped with driver, operator, use cost is low for not discharge of noxious gases, carrier 1 and load-carrying vehicle 2.Each driving wheel 110
Traveling and turn to can independently, flexible modulation, and driving wheel 110 use hub motor, reduce retarder 1015 etc.
Attachment, structure is simple, easy to maintain, improves efficiency, energy saving, and carrier is long 1 cruise duration, overcomes Mecanum wheel and exists
The shortcomings that snapping into sundries, high reliablity are easy when rolling.Transfer has steering motor 1014 and can be used for driving described
Driving wheel 110 is whole to be turned to, and carrier 1 can realize 360 ° of steerings, 90 ° of right-angle steerings etc. at any angle in narrow space
It turns to.Carrier 1 can couple with load-carrying vehicle 2 and be detached from and realize that a vehicle is multi-purpose, improves the utilization rate of equipment, that is, improve production effect
Rate, save the cost.By setting entire car controller 16 and dispatching control center, when carrier 1 and load-carrying vehicle 2 can be long day and night
Between operation, reduce artificial intervention, save human cost, improve operating efficiency.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modification, equivalent replacement or improvement etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (14)
1. a kind of handling device based on In-wheel motor driving, which is characterized in that including can be used for docking locking with load-carrying vehicle simultaneously
The load-carrying vehicle is driven to the carrier for moving to target point, the carrier includes carrying frame, and the carrying frame is connected with:
Multiple driving wheels by In-wheel motor driving,
For drive the driving wheel to turn to and transfer with steering motor,
Be aligned for controlling the carrying frame loading alignment device,
For docking and locking with the load-carrying vehicle carrier docking locking device,
Carrier positioning device for being positioned to carrier,
According to carrying truck position and loading truck position planning movement routine or movement routine can be received and control the vehicle of carrier
Controller and
For providing the energy storage device of electric energy；
The hub motor and steering motor are connected to hub motor control device and steering motor controller, hub motor control
Device processed and steering motor controller are electrically connected to the entire car controller.
2. a kind of handling device based on In-wheel motor driving as described in claim 1, which is characterized in that the carrying frame
U-shaped, the driving wheel is divided into the four corners of the carrying frame, and each driving wheel is respectively connected with the steering
Device；Alternatively,
The carrying frame includes first frame body and two the second frame bodies, and two second frame bodies side by side and are separated by and set
It sets, the both ends of first frame body are respectively fixedly connected with two first body end portions or middle part；The energy storage device difference
It is fixed on the bottom of second frame body, the hub motor control device, steering motor controller, entire car controller, carrier
Positioning device and alignment device are fixed on the bottom of first frame body, and the carrier docking locking device is set to described the
At the interior angle of one frame body and second frame body.
3. a kind of handling device based on In-wheel motor driving as described in claim 1, which is characterized in that the handling device
Further including can include loading vehicle frame, the load-carrying vehicle with carrier docking locking and isolated load-carrying vehicle, the load-carrying vehicle
Frame is connected with
Universal wheel component,
Alignment sensing device for cooperating with the alignment device,
For docked with the carrier locking device cooperation load-carrying vehicle docking locking device and
Load-carrying vehicle positioning device for being positioned to load-carrying vehicle.
4. a kind of handling device based on In-wheel motor driving as claimed in claim 3, which is characterized in that the loading vehicle frame
Square, the alignment sensing device, load-carrying vehicle docking locking device are provided with four groups, alignment sensing device described in each group,
Load-carrying vehicle docks locking device quadrangularly and is symmetrical arranged.
5. a kind of handling device based on In-wheel motor driving according to any one of claims 1 to 4, which is characterized in that
The bottom of the carrying frame is provided with the steering wheel ontology driven by the transfer, and the driving wheel is connected to the steering wheel
Ontology；
The driving wheel includes wheel body and the hub motor, and the hub motor includes that motor shaft, rotor assembly and stator are total
At the wheel body fixation is placed on outside the rotor assembly, and the rotor assembly rotation is placed on outside the field frame assembly, the stator
Assembly fixation is placed on the motor shaft, and the motor shaft is connected to the steering wheel ontology.
6. a kind of handling device based on In-wheel motor driving as claimed in claim 5, which is characterized in that the hub motor
It is also connected with electromagnetic brake assembly with the steering wheel ontology, the electromagnetic brake assembly includes electromagnetic coil and induction module, institute
It states electromagnetic coil and is installed on the steering wheel ontology, the induction module is connected to the rotor assembly, the electricity by connecting shaft
Magnetic coil is oppositely arranged with the induction module.
7. a kind of handling device based on In-wheel motor driving as claimed in claim 5, which is characterized in that the transfer
Including the steering motor, first gear and second gear, the steering motor is installed on the steering wheel ontology, the steering electricity
The shaft of machine is connected to or is connected to the first gear by retarder, and the second gear is connected to the carrying frame
Bottom or the bottom that the carrying frame is connected to by support plate；The first gear is engaged with the second gear, and institute
State first gear can the second gear described in the driving lower edge of the steering motor circumferentially rotate, and drive the steering wheel simultaneously
Ontology, wheel body and hub motor turn to.
8. a kind of handling device based on In-wheel motor driving according to any one of claims 1 to 4, which is characterized in that
The alignment device is the laser aligner for being set to the carrying frame bottom.
9. a kind of handling device based on In-wheel motor driving according to any one of claims 1 to 4, which is characterized in that
The carrier docking locking device includes the electromagnet for being fixedly connected on the carrying frame bottom.
10. a kind of handling device based on In-wheel motor driving as claimed in claim 3, which is characterized in that the load-carrying vehicle
Docking locking device includes the electromagnet sensor block that is fixedly installed on the loading vehicle frame and can dock in opposite directions with the electromagnet.
11. a kind of handling device based on In-wheel motor driving as claimed in claim 3, which is characterized in that carrier docking
Locking device includes the limiter for being fixedly connected on the carrying frame, and the load-carrying vehicle docking locking device includes fixed setting
In the limiter sensor block of the loading vehicle frame.
12. a kind of handling system, which is characterized in that be based on wheel hub including one kind as described in any one of claims 1 to 11
Motor-driven handling device further includes for determining carrier, load-carrying vehicle in shipping target point and the handling device
Position and the dispatching control center that path planning, scheduling are carried out to the carrier.
13. a kind of handling system as claimed in claim 12, which is characterized in that the dispatching control center has for storing
Carry the memory module of site map；And/or
The dispatching control center have with the carrier carry out real-time communication the first communication module, the carrier it is whole
Vehicle controller has for receiving the instruction of the dispatching control center and feeding back the second communication module of real time information.
14. a kind of method for carrying of handling system, which is characterized in that use removing as described in any one of claims 1 to 11
Shipping unit uses a kind of handling system as described in claim 12 or 13, comprising the following steps:
Dispatching control center positions carrier and load-carrying vehicle, the entire car controller of the carrier and the scheduling controlling
Center carries out real time communication and receives the instruction of dispatching control center and feed back real time information, and the entire car controller passes through control
Hub motor control device and steering motor controller are to the traveling of driving wheel and turn to and carry out Collaborative Control, the carrier according to
The planning path or location information that the dispatching control center issues are travelled to by load-carrying vehicle, the alignment device of the carrier with
The aligner sensor block cooperating of the load-carrying vehicle, the carrier are aligned with load-carrying vehicle automatically, the carrying of the carrier
Vehicle docks locking device and with the load-carrying vehicle of the load-carrying vehicle docks locking device cooperating, make carrier automatically with loading lock
Fixed connection, the carrier drive the load-carrying vehicle to drive towards set point along setting transport path；
The carrier and the load-carrying vehicle are sailed to another load-carrying vehicle side after being detached from or are sailed to another specified point.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810896404.1A CN109080444B (en) | 2018-08-08 | 2018-08-08 | Carrying device, carrying system and carrying method based on hub motor driving |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810896404.1A CN109080444B (en) | 2018-08-08 | 2018-08-08 | Carrying device, carrying system and carrying method based on hub motor driving |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109080444A true CN109080444A (en) | 2018-12-25 |
| CN109080444B CN109080444B (en) | 2020-07-17 |
Family
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| CN201810896404.1A Active CN109080444B (en) | 2018-08-08 | 2018-08-08 | Carrying device, carrying system and carrying method based on hub motor driving |
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| CN109823162A (en) * | 2019-01-18 | 2019-05-31 | 中北大学 | A kind of advance system and its control method of wheel pair |
| CN109885062A (en) * | 2019-03-15 | 2019-06-14 | 上海蔚来汽车有限公司 | Retinue platform and homing guidance transportation system for automated guided vehicle |
| CN110092151A (en) * | 2019-05-29 | 2019-08-06 | 中匠机器人(深圳)有限公司 | A kind of automatic guided vehicle |
| CN110158931A (en) * | 2019-06-17 | 2019-08-23 | 广东博智林机器人有限公司 | A kind of tile work composite aircraft and tile work method |
| CN110259069A (en) * | 2019-06-17 | 2019-09-20 | 广东博智林机器人有限公司 | A kind of connection method of tile work composite aircraft and primary and secondary machine frame and brick carrying machine |
| CN110259070A (en) * | 2019-06-17 | 2019-09-20 | 广东博智林机器人有限公司 | A kind of tile work composite aircraft and mortar laydown machine combined system and interlock method |
| CN110884893A (en) * | 2019-11-19 | 2020-03-17 | 北京邮电大学 | Automatic adsorption and traction device of transfer robot |
| CN111071680A (en) * | 2019-12-27 | 2020-04-28 | 席宏榕 | Article conveyer is used in commodity circulation transportation |
| CN111501299A (en) * | 2020-04-01 | 2020-08-07 | 珠海格力电器股份有限公司 | Electric appliance and base system thereof |
| WO2021064496A1 (en) * | 2019-10-03 | 2021-04-08 | Rational Production S.R.L. | Assisted thrust system for carriages or for loads in general moved on wheels |
| CN113602381A (en) * | 2021-07-30 | 2021-11-05 | 中国人民解放军32181部队 | Carrying vehicle chassis with narrow space pivot steering function and carrying vehicle |
| CN113664069A (en) * | 2020-05-14 | 2021-11-19 | 泰科电子(上海)有限公司 | System for replacing spool of punching tape |
| CN114148432A (en) * | 2022-01-12 | 2022-03-08 | 李岳 | Transfer robot driven by hub motor |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109823162A (en) * | 2019-01-18 | 2019-05-31 | 中北大学 | A kind of advance system and its control method of wheel pair |
| CN109823162B (en) * | 2019-01-18 | 2020-10-23 | 中北大学 | Wheel set advancing system and control method thereof |
| CN109885062A (en) * | 2019-03-15 | 2019-06-14 | 上海蔚来汽车有限公司 | Retinue platform and homing guidance transportation system for automated guided vehicle |
| CN110092151A (en) * | 2019-05-29 | 2019-08-06 | 中匠机器人(深圳)有限公司 | A kind of automatic guided vehicle |
| CN110158931A (en) * | 2019-06-17 | 2019-08-23 | 广东博智林机器人有限公司 | A kind of tile work composite aircraft and tile work method |
| CN110259069A (en) * | 2019-06-17 | 2019-09-20 | 广东博智林机器人有限公司 | A kind of connection method of tile work composite aircraft and primary and secondary machine frame and brick carrying machine |
| CN110259070A (en) * | 2019-06-17 | 2019-09-20 | 广东博智林机器人有限公司 | A kind of tile work composite aircraft and mortar laydown machine combined system and interlock method |
| CN110259070B (en) * | 2019-06-17 | 2021-03-09 | 广东博智林机器人有限公司 | Combined system and linkage method of brick paving primary and secondary machines and mortar paving machine |
| US11753059B2 (en) | 2019-10-03 | 2023-09-12 | Rational Production S.R.L. | Assisted thrust system for carriages or for loads in general moved on wheels |
| WO2021064496A1 (en) * | 2019-10-03 | 2021-04-08 | Rational Production S.R.L. | Assisted thrust system for carriages or for loads in general moved on wheels |
| CN110884893A (en) * | 2019-11-19 | 2020-03-17 | 北京邮电大学 | Automatic adsorption and traction device of transfer robot |
| CN111071680A (en) * | 2019-12-27 | 2020-04-28 | 席宏榕 | Article conveyer is used in commodity circulation transportation |
| CN111501299A (en) * | 2020-04-01 | 2020-08-07 | 珠海格力电器股份有限公司 | Electric appliance and base system thereof |
| CN111501299B (en) * | 2020-04-01 | 2021-11-16 | 珠海格力电器股份有限公司 | Electric appliance and base system thereof |
| CN113664069A (en) * | 2020-05-14 | 2021-11-19 | 泰科电子(上海)有限公司 | System for replacing spool of punching tape |
| CN113664069B (en) * | 2020-05-14 | 2024-04-02 | 泰科电子(上海)有限公司 | Stamping strip reel replacement system |
| CN113602381A (en) * | 2021-07-30 | 2021-11-05 | 中国人民解放军32181部队 | Carrying vehicle chassis with narrow space pivot steering function and carrying vehicle |
| CN114148432A (en) * | 2022-01-12 | 2022-03-08 | 李岳 | Transfer robot driven by hub motor |
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Effective date of registration: 20221102 Address after: Room 306, building 4, future pioneer Plaza, high tech Zone, Jinan City, Shandong Province Patentee after: Shandong Zhongke advanced technology Co.,Ltd. Address before: 518000 No. 1068, Xue Yuan Avenue, Shenzhen University Town, Nanshan District, Shenzhen, Guangdong. Patentee before: SHENZHEN INSTITUTES OF ADVANCED TECHNOLOGY CHINESE ACADEMY OF SCIENCES |