WO2012062082A1

WO2012062082A1 - Rocker controlled engineering vehicle with independently driven double sides wheel groups

Info

Publication number: WO2012062082A1
Application number: PCT/CN2011/072778
Authority: WO
Inventors: 唐峰平; 王方明; 张冲
Original assignee: Tang Fengping; Wang Fangming; Zhang Chong
Priority date: 2010-11-11
Filing date: 2011-04-14
Publication date: 2012-05-18
Also published as: CN101992799B; CN101992799A

Abstract

A rocker controlled engineering vehicle with independently driven double sides wheel groups includes a vehicle platform (5). Driving wheel groups (8) are installed at two sides of the vehicle platform (5). The driving wheel groups (8) are provided with independent driving devices respectively. The engineering vehicle also includes a rocker controller (1) with an operation rocker (2). The operation rocker (2) can sway at 360 degrees to control the motion of the driving wheel groups (8). A horizontal platform (10) is located at the vehicle platform (5) and always keeps horizontal during the running process of the vehicle. The vehicle platform (5) is also provided with driven universal wheels (4) with angular adjusting devices. The engineering vehicle of the present invention can be used as a fork lift or a transporting trolley etc. The engineering vehicle is convenient in operation, small in size and flexible in moving.

Description

[Invention name established by ISA according to Rule 37.2] Rocker-controlled construction vehicle with independent drive double-sided wheel sets

This application claims the priority of the Chinese patent application filed on November 11, 2010, the Chinese Patent Office, the application number is 201010541514.X, and the invention name is "the joystick control double-sided wheel independent driving engineering vehicle", the entire contents thereof This is incorporated herein by reference.

Technical field

The invention relates to an engineering logistics vehicle, in particular to a construction vehicle with a rocker controlling a double-sided wheel set independently driven.

Background of the invention

At present, the engineering logistics vehicle is a commonly used vehicle. The logistics vehicles in the prior art are all structures that drive the wheel and the steering wheel. The driving wheel adopts a driving device (engine or motor + steering system) with a differential structure. . Through the steering wheel steering, the function lever operates the fork, platform and other components.

The above prior art has at least the following disadvantages:

Inconvenient operation, large size, and poor mobility.

Summary of the invention

The object of the present invention is to provide an engineering vehicle that is easy to operate, small in size, and flexible in moving the joystick to control the independent driving of the double-side wheel sets.

The object of the invention is achieved by the following technical solutions:

The rocker of the present invention controls a double-sided wheel set independently driven engineering vehicle, including a vehicle platform, and the two sides of the vehicle platform are respectively provided with driving wheel sets, and further comprising a rocker controller, the rocker control The device is provided with a steering rocker, the steering rocker can swing in a 360° direction, and the driving wheel sets on both sides of the vehicle platform are respectively provided with independent driving devices;

The rocker controller sends a control signal to the driving device according to the swinging direction of the steering rocker to control the movement of the driving wheel set.

It can be seen from the technical solution provided by the present invention that the rocker controlled by the double-side wheel set independently drives the engineering vehicle of the vehicle platform, and the driving wheels on both sides of the vehicle platform are respectively provided with independent driving devices, and The root manipulation joystick controls the movement of the driving wheel set, and is convenient to operate, small in size, and flexible in movement.

BRIEF DESCRIPTION OF THE DRAWINGS

1a, 1b are schematic structural views of a rocker controller according to the present invention;

2a, 2b are schematic structural views of a two-wheel independent driving of a vehicle platform plus a universal wheel in the present invention;

3a, 3b are schematic views showing the structure of driving group wheels on both sides of the vehicle platform in the present invention;

4a, 4b are schematic structural views of a crawler belt or a conveyor belt on both sides of a vehicle platform according to the present invention;

5a, 5b are schematic views of the rocker swinging when the vehicle platform is moved forward and backward according to the present invention;

6a, 6b are schematic views of the rocker swinging when the vehicle platform is turning at a differential speed according to the present invention;

7a, 7b are schematic views of the rocker swinging when the vehicle platform turns in place according to the present invention;

Figure 8a is a schematic structural view of a horizontal platform according to the present invention;

Figure 8b is a schematic view showing the state of the horizontal platform when the vehicle is uphill;

Figure 8c is a schematic view showing the state of the horizontal platform when the vehicle is going downhill according to the present invention;

Figure 8d is a schematic view showing the state of the horizontal platform when the vehicle is tilted to the right in the present invention;

Figure 8e is a schematic view showing the state of the horizontal platform when the vehicle is tilted to the left in the present invention;

9a, 9b, and 9c are schematic views showing a state in which the universal wheel automatically adjusts the angle with the rocker swing according to the present invention;

Figure 9d is a schematic view showing the state of the universal wheel when the vehicle platform is advanced;

9e is a schematic view showing the state of the universal wheel when the vehicle platform is retracted according to the present invention;

9f is a schematic view showing the state of the universal wheel when the vehicle platform turns right during the present invention;

Figure 9g is a schematic view showing the state of the universal wheel when the vehicle platform turns left in the present invention;

9h is a schematic view showing the state of the universal wheel when the vehicle platform is turned right in the present invention;

Fig. 9i is a schematic view showing the state of the universal wheel when the vehicle platform is turned left in the left direction of the present invention.

In the figure: 1, rocker controller, 2, joystick, 3, function keys, 4, universal wheel, 5, vehicle platform, 6, independent drive wheel, 8, drive wheel set, 9, drive track, 10 Horizontal platform.

Mode for carrying out the invention

The joystick of the present invention controls the double-sided wheel set independently driven engineering vehicle, and the preferred embodiment thereof is:

The vehicle platform includes a driving wheel set on both sides of the vehicle platform, and a rocker controller, wherein the rocker controller is provided with a steering rocker, and the steering rocker can swing in a 360° direction. The driving wheel sets on both sides of the vehicle platform are respectively provided with independent driving devices;

The control of the drive wheel set by the rocker controller may include the following control modes:

Manipulate the joystick forward:

The driving device of the driving wheel sets on both sides of the vehicle platform has the same output rotational speed for each driving wheel, and the vehicle platform advances;

Manipulate the joystick to push backwards:

The driving device of the driving wheel set on both sides of the vehicle platform has the same output rotational speed for each driving wheel, and the vehicle platform retreats;

Operate the joystick to the left front, right front, left rear or right rear:

The driving device of the driving wheel sets on both sides of the vehicle platform has different output rotational speeds for the driving wheels, and the vehicle turns to the left front, the right front, the left rear or the right rear according to the direction of pushing the joystick;

Operate the joystick to push left or right:

The two driving devices of the driving wheel sets on both sides of the vehicle platform have the same output rotational speed for each driving wheel, but in opposite directions, the vehicle rotates left or right around a rotating center inside the vehicle body platform according to the direction of the rocking lever.

The vehicle platform may be provided with a horizontal platform, and the horizontal platform is provided with a platform posture sensor and a horizontal state maintaining device, and the horizontal state maintaining device adjusts the posture signal of the horizontal platform detected by the platform posture sensor. The angle of the horizontal platform is such that the horizontal platform is always level.

The horizontal state maintaining device may include a gear transmission mechanism, a push rod transmission mechanism, or a hydraulic transmission mechanism.

The drive wheel set can include at least one tire drive wheel or track drive wheel.

One or more follower universal wheels may be respectively disposed on one side or both sides of the vehicle platform. The universal wheel may be provided with an angle sensor and an angle adjusting device, and the angle adjusting device determines the moving direction and the moving tendency of the vehicle according to the swinging direction of the rocker, and adjusts the angle of the universal wheel and the vehicle.

The vehicle platform is equipped with a forklift fork system as a forklift; or a lifting platform, a rotating platform or other functional components are used as engineering vehicles.

The rocker controller is provided with function keys including an auxiliary rocker, a button or a switch for controlling the forklift fork, the lifting platform or the rotating platform or other functional components.

The rocker of the invention controls the double-sided wheel set independently driven engineering vehicle, and has the advantages of convenient operation, small volume and flexible movement, and can be used for a manned or unmanned vehicle system.

The present application will be described in detail below through specific embodiments and with reference to the accompanying drawings:

1. The structural form of the vehicle platform control device of the present invention is:

As shown in Fig. 1a and Fig. 1b, only one rocker is used to control the front, rear, left and right movement of the vehicle platform, and the full range control such as differential speed and in-situ rotation.

By adding a rocker, a button, a switch, etc., the control of additional functional components such as forklift forks, lifting, and rotating platforms is realized.

2. The structural form of the vehicle platform of the present invention may be:

As shown in Fig. 2a and Fig. 2b, the two sides of the vehicle platform are independently driven by two wheels, plus a universal wheel (several);

The driving wheels are distributed on the left and right sides of the vehicle, and the arrangement of the follower wheels may be installed at the same time, or may be, the front side or only the one side installation mode of the rear side.

As shown in Fig. 3a and Fig. 3b, the two sides of the vehicle platform are left and right two sets of wheels, each side wheel set can be multiple wheels, and the left and right side wheel sets are independently driven; the drive wheel sets are distributed on the left and right sides of the vehicle, each side The wheel set can be two or more. For example, each side wheel set has three drive wheels, each set has the same speed torque, and can also add a follower wheel.

As shown in Figures 4a and 4b, the two sides of the vehicle platform are tracked or belt driven, and the left and right side wheel sets are independently driven.

The drive wheel set can also be other structures of the same principle.

3. The structural form of the horizontally levelable platform of the present invention is:

It is a horizontal platform that can be placed on the mobile table. The tilt sensor receives the angle signal of the mobile platform, adjusts the angle of the horizontal platform and the center of gravity of the horizontal platform, so that the horizontal platform is always level with the ground (horizontal plane) and can be adjusted at any time. The position of the center of gravity of the horizontal platform. The platform can be a gear transmission mechanism, a push rod transmission mechanism, a hydraulic transmission mechanism, and the like.

4. The structure of the universal wheel self-aligning system of the present invention is:

It is an angle adjustment mechanism. The universal wheel (eccentric or non-eccentric) has an angle sensor and has an independent angle driving system. It can receive the signal of the rocker that controls the movement of the vehicle, and can judge the moving direction or moving tendency of the vehicle. Adjust the angle of the universal wheel to ensure accurate movement of the vehicle platform. The platform can be a gear transmission mechanism, a push rod transmission mechanism, a hydraulic transmission mechanism, and the like.

The specific operation mode of the present invention will be described in detail below:

For the convenience of description, the two-wheel independent driving shown in FIG. 2a and FIG. 2b is adopted, and the driving principle of the vehicle platform driving of the universal wheel (several) structure is adopted, and the other vehicle platforms are the same principle. And adopting the rocker controller shown in FIG. 1a and FIG. 1b, the control unit of the driving device of the two driving wheels is integrated in the rocker controller, and is controlled by the rocker respectively, and the specific operation modes are as follows:

1. As shown in Figure 5a and Figure 5b, when moving forward and backward:

Manipulate the joystick: push forward;

Vehicle platform: The output speed of the two driving devices is the same for each driving wheel, and the vehicle platform advances.

Manipulating the joystick: pushing backwards;

Vehicle platform: The two drive units have the same output speed for each drive wheel (but opposite to the forward direction), and the vehicle platform retreats.

2. As shown in Figure 6a and Figure 6b, when turning at a differential speed:

Operate the joystick: push to the left (right) front and left (right) rear;

Vehicle platform: The driving speeds of the two driving devices are different for each driving wheel. The vehicle can turn to the left (right) front and left (right) rear in the direction of the push bar, that is, turn in the direction of low speed.

In order to exercise the softness if necessary, turning to the left and turning to the right is interchangeable.

3. As shown in Figure 7a and Figure 7b, when turning in place:

Operate the joystick: push to the left (right) direction;

Vehicle platform: The output speeds of the two driving devices are the same for each driving wheel, but in the opposite direction, the vehicle can rotate in the direction of the push rod. The vehicle platform can be rotated left (right) around a center of rotation inside the body platform.

4. As shown in Figures 8a, 8b, 8c, 8d, and 8e, the platform can be horizontal and the center of gravity can be moved:

It is a horizontal platform that can be placed on the platform of the vehicle. It has the center of gravity of the horizontal platform and the front and rear left and right adjustment angles within a certain range. Receiving, by the tilt sensor, an angle signal of the vehicle platform due to different ground conditions;

1) Automatically adjust the position of the center of gravity of the horizontal platform when tilting forward and backward, so that the position of the center of gravity moves forward when going uphill, and moves the position of the center of gravity backward when going downhill.

2) Automatically adjust the angle of the horizontal platform when tilting back and forth so that the water platform is always parallel to the ground (horizontal plane).

The platform can be a gear transmission mechanism, a push rod transmission mechanism, and a hydraulic mechanism.

3) Automatically adjust the angle of the horizontal platform when tilting left and right so that the water platform is always parallel to the ground (horizontal plane).

5. As shown in Figures 9a, 9b, 9c, 9d, 9e, 9f, 9g, 9h, 9i, the universal wheel automatically adjusts the angle system:

The universal wheel (eccentric or non-eccentric) can be one or two or more. The universal wheel has an independent angle driving device, which can judge the driving tendency of the vehicle and drive the universal wheel according to the input device of the controller. In the corresponding direction, instead of passively rotating the vehicle platform, the angular direction of the universal wheel is automatically adjusted by the independent angle drive. That is, the angle of the universal wheel is automatically adjusted according to the direction in which the angle of the rocker is manipulated. In the process of exercising, there will be no shaking or deviation, and the vehicle platform can be moved more accurately to perform the work.

The angle driving device may include a gear transmission mechanism, a push rod transmission mechanism, or a hydraulic mechanism. The figure shows the angle adjustment mode of the left front side universal wheel in the forward direction of the body platform, and the angle adjustment mode of the other position universal wheel is also the same adjustment.

The invention is a universal platform for vehicles in the field of engineering logistics, and is provided with a platform capable of maintaining level, a universal wheel self-aligning system, etc., and is a general platform for vehicles applied in the field of engineering logistics. As a vehicle platform, it can be used with forklift forks or forklifts. It can also be equipped with lifting devices, moving, rotating devices or other functional components for construction vehicles. This platform can be various control methods such as wire control, remote control, automatic control (unmanned operation), manual control and so on.

The above is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily think of changes or within the technical scope of the present disclosure. Alternatives are intended to be covered by the scope of the present invention.

Claims

A rocker control double-sided wheel set independently driven engineering vehicle, comprising a vehicle platform, the two sides of the vehicle platform are respectively provided with a driving wheel set, and further comprising a rocker controller, the rocker controller a steering rocker is provided, the steering rocker can swing in a 360° direction, and the driving wheel sets on both sides of the vehicle platform are respectively provided with independent driving devices;

The rocker controller sends a control signal to the driving device according to the swinging direction of the steering rocker to control the movement of the driving wheel set.
The rocker controlled double-sided wheel set independently driven engineering vehicle according to claim 1, wherein the control of the drive wheel set by the rocker controller comprises the following control modes:

Manipulate the joystick forward:

The driving device of the driving wheel sets on both sides of the vehicle platform has the same output rotational speed for each driving wheel, and the vehicle platform advances;

Manipulate the joystick to push backwards:

The driving device of the driving wheel set on both sides of the vehicle platform has the same output rotational speed for each driving wheel, and the vehicle platform retreats;

Operate the joystick to the left front, right front, left rear or right rear:

The driving device of the driving wheel sets on both sides of the vehicle platform has different output rotational speeds for the driving wheels, and the vehicle turns to the left front, the right front, the left rear or the right rear according to the direction of pushing the joystick;

Operate the joystick to push left or right:

The two driving devices of the driving wheel sets on both sides of the vehicle platform have the same output rotational speed for each driving wheel, but in opposite directions, the vehicle rotates left or right around a rotating center inside the vehicle body platform according to the direction of the rocking lever.
The rocker-controlled double-side wheel set independently driven engineering vehicle according to claim 2, wherein the vehicle platform is provided with a horizontal platform, and the horizontal platform is provided with a platform attitude sensor and a horizontal state maintaining device. The horizontal state maintaining device adjusts an angle of the horizontal platform according to the posture signal of the horizontal platform detected by the platform pose sensor, so that the horizontal platform is always level.
The rocker-controlled double-sided wheel set independently driven construction vehicle according to claim 3, wherein the horizontal state maintaining device comprises a gear transmission mechanism, a push rod transmission mechanism or a hydraulic transmission mechanism.
The rocker-controlled double-sided wheelset independently driven construction vehicle according to claim 4, wherein the drive wheel set comprises at least one tire-type drive wheel or a track-type drive wheel.
The rocker control double-side wheel set independently driven engineering vehicle according to claim 5, wherein one or more of the following universal wheel are provided on one side or both sides of the vehicle platform.
The rocker control double-side wheel set independently driven engineering vehicle according to claim 6, wherein the universal wheel is provided with an angle sensor and an angle adjusting device, and the angle adjusting device is oscillated according to the rocker The direction determines the direction of movement and the trend of the vehicle, and adjusts the angle of the universal wheel to the vehicle.
The rocker-controlled double-side wheel set independently driven engineering vehicle according to any one of claims 1 to 7, wherein the vehicle platform is equipped with a forklift fork system as a forklift;

Or use a lifting platform or a rotating platform for use as a transport vehicle.
The rocker controlled double-sided wheel set independently driven engineering vehicle according to claim 8, wherein the rocker controller is provided with a function key, and the function key comprises an auxiliary rocker, a button or a switch, For the control of forklift forks, lifting platforms or rotating platforms.