航空機整備・修理用多機能オムニムーブ搬送カート

Working Principle of the Multifunctional Omnimove Transfer Cart

The following explanation of the operating principles of the multifunctional omnimove transfer cart facilitates rapid comprehension of the core motion sequences and control logic for engineering and maintenance personnel.

動作原理：

1. Power-up
   • Switch on the main power supply. The system draws power from the battery (48V/130Ah) to supply the vehicle controller, drive units, and hydraulic pump.
   • Electronic control self-test: Display self-check, sensor and communication link verification, fault code clearance, and readiness confirmation.
   • Inspection items: Battery charge display, braking system, laser obstacle avoidance/safety edge, outrigger sensors, and emergency stop button functionality check.
2. Mode Selection
   • The operator selects the operating mode (movement/lifting/translation/tilting/outrigger deployment) via wireless remote control or wired joystick.
   • The controller issues commands to the functional modules based on the selected mode and activates the corresponding safety paths.
3. Drive and Omnidirectional Mobility
   • Dual drive motors (2 kW ×2) provide traction; four steering motors (0.75 kW ×4) independently control the steering angle of each of the four steering wheels.
   • Control algorithms calculate each wheel’s speed and steering angle in real time, enabling: forward/reverse, lateral movement (sideways), diagonal movement, on-the-spot rotation, and diagonal traversing for omnidirectional motion.
   • Encoders and speed sensors at the wheel ends feed back to the drives, forming a closed-loop speed/position control system that ensures positioning accuracy and motion smoothness.
4. Positioning
   • The operator or automated assistance system monitors position via on-board displays (platform surface and remote control).
   • Laser obstacle avoidance and distance sensors operate during low-speed precision positioning, triggering deceleration and enabling precise approach to the docking point at a set step distance.
   • Soft-cushion support and buffering mechanisms absorb micro-impacts upon contact, preventing damage to sensitive composite components.
5. Hydraulic Platform Elevation and Translation (Upper Platform)
   • Activate the hydraulic pump to drive cylinders or scissor mechanisms for platform elevation (upper platform translation stroke approx. 400 mm; elevation stroke ≥1400 mm, with customisable longer strokes available).
   • Lifting employs flow/pressure closed-loop control, with the controller precisely limiting lifting speed via valves (e.g., 3–4 m/min) while continuously monitoring load and displacement sensors.
   • Platform traversal and tilting are controlled by dedicated motors/actuators, achieving up to 70° tilt angles with position locking before and after operations.
6. Small Platform Operation
   • The small platform employs an independent hydraulic/electric drive, supporting ≥1100 mm vertical travel and 70° tilt for local assembly and workstation adjustments.
   • During small platform operation, the system temporarily locks the vehicle’s movement and unrelated modules (interlock mechanism) to prevent concurrent actions from causing hazards.
7. Outrigger/Stabiliser Deployment and Stability Control
   • Before elevated or loaded operations, the control system deploys all four hydraulic outriggers to ground contact, with load feedback from outrigger sensors.
   • Upon meeting load-bearing requirements, the vehicle disengages wheel-end drive (or switches to parking mode) to prevent overturning and enhance operational stability.
8. Personnel and Cargo Safety
   • Hardware and software interlocks operate between all modules: vehicle movement or platform tilting is prohibited if lifting is incomplete or outriggers are not deployed.
   • Laser obstacle avoidance, edge contact protection, and audible/visual alarms immediately trigger emergency stop logic upon detecting imminent hazards.
   • Operator displays and remote controllers simultaneously show status and warnings, facilitating coordinated decision-making between near and remote operators.
9. 電磁ブレーキ
   • During normal operation, the drive unit regulates braking force for smooth stopping. Upon power failure or emergency stop, electromagnetic brakes forcibly engage to ensure static safety.
   • During lateral movement or under load, braking control integrates with torque monitoring algorithms to prevent slippage or positional drift.
10. Charging
    • A separate charger provides fully automated intelligent charging, with the system managing charging profiles and safeguarding against overvoltage, undervoltage, and overcurrent.
    • The Battery Management System (BMS) monitors battery health and available capacity, issuing alerts or restricting non-essential functions during low charge states.
11. Shutdown and Maintenance
    • During shutdown, first retract the platform to transport position, retract outriggers, disconnect peripherals, then transition to standby/off mode.
    • Regular maintenance points include: hydraulic oil replacement, tyre (polyurethane-coated) inspection, encoder/sensor calibration, battery health assessment, and brake system inspection.

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