CN108407859A - A kind of electric boosted cart system - Google Patents
A kind of electric boosted cart system Download PDFInfo
- Publication number
- CN108407859A CN108407859A CN201810187527.8A CN201810187527A CN108407859A CN 108407859 A CN108407859 A CN 108407859A CN 201810187527 A CN201810187527 A CN 201810187527A CN 108407859 A CN108407859 A CN 108407859A
- Authority
- CN
- China
- Prior art keywords
- rocking bar
- cart
- controller
- potentiometer
- motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B3/00—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor
- B62B3/02—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor involving parts being adjustable, collapsible, attachable, detachable or convertible
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B5/00—Accessories or details specially adapted for hand carts
- B62B5/0026—Propulsion aids
- B62B5/0033—Electric motors
- B62B5/0036—Arrangements of motors
- B62B5/0043—One motor drives one wheel
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B5/00—Accessories or details specially adapted for hand carts
- B62B5/06—Hand moving equipment, e.g. handle bars
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Handcart (AREA)
Abstract
The invention discloses a kind of electric boosted cart systems, including：Power supply, rocking bar potentiometer, controller, motor and tachogenerator；Peripheral unit is flexible rocking bar and cart platform.Rocking bar potentiometer is fixed on cart platform rear end by flexible rocking bar, flexible rocking bar swing causes voltage to change, the rocking bar potentiometer uses twin shaft or three shaft potential meters, the flexible rocking bar voltage change of acquisition is passed to controller by rocking bar potentiometer, controller is using the voltage change as the reference value of driving motor running speed and direction, to drive cart platform to move, controller receives the motor speed feedback measured from tachogenerator simultaneously, and the movement of cart platform is adjusted after being handled via controller；Power supply is rocking bar potentiometer, controller, motor and tachogenerator power supply.The present invention can reduce labor intensity, improve working efficiency, and easy to operate, the operation is stable, strong antijamming capability.
Description
Technical field
The present invention relates to cart technical fields, and in particular to a kind of electric boosted cart system.
Background technology
Trolley is the vehicle carried by man-driven, is the first ancestor of all vehicles.Although trolley material is removed
Transportation technique continues to develop, but trolley is still used till today as indispensable handbarrow.Due to trolley is cheap,
Maintenance is simple and convenient to operate, from heavy and light, can be in the local work that motor vehicles inconvenience uses, in the lighter object of short-haul operation
The advantages that very convenient when product, is applied widely in production and life.
In the road conditions such as factory, warehouse, construction site, railway station complexity, the place of narrow space carries out big heavy weight goods
When transport, or in daily life, when people need to carry out the transporting heavy things of certain distance, can only often manpower be relied on to carry out.
This tradition People-Powered Vehicle often has that slow in action, labor intensity is big and working efficiency is low.
Existing electrically driven truck is there are poor anti jamming capability, the problems such as stability is bad.
Invention content
In view of this, the present invention provides a kind of electric boosted cart system, labor intensity can be reduced, improves work effect
Rate, and easy to operate, the operation is stable, strong antijamming capability.
Specific embodiments of the present invention are as follows：
A kind of electric boosted cart system, the cart system include：Power supply, rocking bar potentiometer, controller, motor and survey
Fast sensor；Peripheral unit is flexible rocking bar and cart platform；
The rocking bar potentiometer is fixed on cart platform rear end by flexible rocking bar, and flexible rocking bar swing leads to voltage
Variation, the rocking bar potentiometer use twin shaft or three shaft potential meters, rocking bar potentiometer to pass the flexible rocking bar voltage change of acquisition
Controller is passed, controller is pushed away using the voltage change as the reference value of driving motor running speed and direction to drive
Vehicle platform moves, while the controller receives the motor speed feedback measured from tachogenerator, is handled via controller
The movement of cart platform is adjusted afterwards；The power supply is rocking bar potentiometer, controller, motor and tachogenerator power supply.
Further, gear speed is arranged according to flexible rocking bar voltage change section in the controller.
Further, the power supply uses rechargeable lithium battary.
Further, four vehicle wheel rotations of cart platform are respectively driven using four motors.
Advantageous effect：
1, the present invention replaces the handle of bulky traditional cart, it can be achieved that mild manipulation rocking bar controls using light and handy rocking bar
The function that cart advances, retreats, turns left and turn right, it is easy to use light and handy, labor intensity is not only reduced, light labour-saving effect is reached
Fruit improves working efficiency, and plays the role of steering wheel again, kills two birds with one stone, easy to operate；Secondly, using closed loop feedback system
System, the at any time movement of adjusting control cart, strong antijamming capability.
2, the gear speed that the present invention designs can carry out speed adjusting according to user demand, to realize that cart follows people to transport
Dynamic function.
3, rechargeable lithium battery of the present invention, easy to disassemble, the working time is up to six hours, and environmental protection is without dirt
Dye can replace battery, effectively raise working efficiency at any time in the case where cart is without electricity.
4, the present invention respectively drives four vehicle wheel rotations of cart platform using four motors, realizes differential motion, stability
More preferably.
Description of the drawings
Fig. 1 is cart system schematic diagram；
Fig. 2 is cart surface structure schematic diagram.
Wherein, the flexible rocking bars of 1-, 2- cart platforms.
Specific implementation mode
The present invention will now be described in detail with reference to the accompanying drawings and examples.
Before the design of electric boosted cart system, the unitary construction of cart is completed first, as shown in Fig. 2, cart platform
Using hierarchical design, using acrylic board as cart platform, upper layer is cart article carrying platform, and lower layer is that internal circuit placement is flat
Platform, cart circuit system are arranged in cart platform interior.With light and handy rocking bar instead of bulky handle in traditional cart, rise
It is acted on to labour-saving.Be machined, by 1 mechanical couplings of flexible rocking bar on cart platform 2 layer plane rear end, not only can be with
Power-assisted is laborsaving, and attractive appearance, and the function of not lost system cart.Rocking bar potentiometer is mounted on flexible rocking bar 1, Ke Yigen
Length adjustment is carried out according to demand, it is adaptable.2 four vehicle wheel rotations of cart platform are respectively driven using four motors, it is poor to realize
Speed movement.
Technical solution controls the cart speed of service and steering mode, this hair based on the amplitude and angle that are swung according to rocking bar
The electric boosted cart system of bright offer, hardware system are mainly by point element, that is, rocking bar potentiometer, controller, executive component
Motor drive module and motor and measuring cell, that is, tachogenerator composition, controlled device are cart platform, as shown in Figure 1.
The function and effect for reflecting power by rocking bar, when manpower mild manipulation rocking bar, voltage that rocking bar potentiometer is acquired
Reference value of the changing value as the cart speed of service and direction, and as the input of control system.
Using double-shaft rocking potentiometer, direction coordinate system is made of two axis, respectively control cart advance, retreat, turn left with
It turns right, high sensitivity is laborsaving.
Controller is microcontroller, and chip model is STM32F103ZET6, and ADC analog signals are completed using STM32 microcontrollers
Acquisition, clock pins send out PWM wave and capture tally function to the rising edge of input signal.
Tachogenerator uses Hall tachogenerator, and kinematics speed signal is converted into pulse electrical signal, passes through reading
Umber of pulse and pulse period are taken to calculate the speed of motor rotation.Using tachogenerator as the feedback of closed-loop control system member
The motor speed acquired in real time is fed back to microcontroller, constitutes closed-loop control system by part.Using four Hall tachogenerators,
The rotating speed of four motors is acquired respectively.
Motor drive module uses L298N dual H-bridge direct current generator drive modules, and at low cost, control principle is simple, facilitates control
The rotation direction and rotating speed of motor processed, by realizing differential motion to the control of rotating speed.
Motor uses direct current torque motor, and service life length, low noise, torque is big, stable and reliable for performance, easily drives and pushes away
Vehicle is run.Motor driving 12V power supply power supplies, rocking bar potentiometer 3.3V power supply power supplies, STM32 microcontrollers are supplied with 5V power supplys
Electricity.So Power Selection 12V 16800mAh rechargeable lithium battaries.Using the adjustable voltage reduction modules of LM2596S DC-DC to 12V
Voltage be depressured, change into 5V and 3.3V voltages.
When manpower mild manipulation stretches rocking bar 1, voltage is caused to change, the voltage using the acquisition of rocking bar potentiometer becomes
Reference value of the change value as the cart speed of service and direction；The voltage change of acquisition is passed to STM32 monolithics by rocking bar potentiometer
Machine, STM32 microcontrollers output control signal, that is, PWM wave simultaneously operate drive cart platform movement by drive module driving motor；
Meanwhile by Hall tachogenerator measurement motor rotating speed, STM32 microcontrollers are fed back to, closed-loop control system is constituted, with increment
Formula pid algorithm is adjusted, the movement of control cart platform 2.Using differential shifting principle, when revolver rotating speed is less than right wheel rotating speed
When, revolver can not follow right wheel, to realize left steering；Similarly realize right turn.
Originally electric boosted cart system can realize the i.e. controllable cart advance of mild manipulation rocking bar, retrogressing, left-hand rotation and the right side
The function of turning, and a variety of gear speed are arranged according to flexible rocking bar voltage change section in controller, it can be according to operation rocking bar
Amplitude is controlled, and keeps the movement of cart more steady.There are three types of gear speed respectively when moving forward and backward movement for the present embodiment
Degree turns left and is set as constant motion when turning right, it is easier to realization and stable movement.It is assumed that operator deviates flexible shake to the left
Bar 1, causes voltage to change, and double-shaft rocking potentiometer collects the voltage change and passes to controller, and controller can be with
Judged to deflect direction according to voltage change, and according to the running speed of setting control motor, to drive cart platform 2 to exist
The constant speed infralevoversion of setting, meanwhile, four Hall tachogenerators acquire the speed feedback of four motors to controller, warp respectively
The speed that driving motor is adjusted after being handled by controller, to achieve the purpose that 2 smooth motion of cart platform.
In conclusion the above is merely preferred embodiments of the present invention, being not intended to limit the scope of the present invention.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in the present invention's
Within protection domain.
Claims (4)
1. a kind of electric boosted cart system, which is characterized in that the cart system includes：Power supply, rocking bar potentiometer, control
Device, motor and tachogenerator；Peripheral unit is flexible rocking bar and cart platform；
The rocking bar potentiometer is fixed on cart platform rear end by flexible rocking bar, and flexible rocking bar swing causes voltage to become
Change, the rocking bar potentiometer uses twin shaft or three shaft potential meters, rocking bar potentiometer to transmit the flexible rocking bar voltage change of acquisition
To controller, controller is using the voltage change as the reference value of driving motor running speed and direction, to drive cart
Platform moves, while the controller receives the motor speed feedback measured from tachogenerator, after being handled via controller
Adjust the movement of cart platform；The power supply is rocking bar potentiometer, controller, motor and tachogenerator power supply.
2. electric boosted cart system as described in claim 1, which is characterized in that the controller is according to flexible rocking bar voltage
Gear speed is arranged in constant interval.
3. electric boosted cart system as described in claim 1, which is characterized in that the power supply is using chargeable lithium electricity
Pond.
4. electric boosted cart system as described in claim 1, which is characterized in that it is flat to respectively drive cart using four motors
Four vehicle wheel rotations of platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810187527.8A CN108407859A (en) | 2018-03-07 | 2018-03-07 | A kind of electric boosted cart system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810187527.8A CN108407859A (en) | 2018-03-07 | 2018-03-07 | A kind of electric boosted cart system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108407859A true CN108407859A (en) | 2018-08-17 |
Family
ID=63130523
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810187527.8A Pending CN108407859A (en) | 2018-03-07 | 2018-03-07 | A kind of electric boosted cart system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108407859A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111367298A (en) * | 2020-05-07 | 2020-07-03 | 哈尔滨理工大学 | STM 32-based vehicle intelligent safety driving control system |
| CN112356885A (en) * | 2020-11-24 | 2021-02-12 | 北京机械设备研究所 | Electric tractor with guarantee |
| CN113691931A (en) * | 2021-07-16 | 2021-11-23 | 国网宁夏电力有限公司固原供电公司 | Scheduling system of hand-push single-shaft carrier |
| CN114348110A (en) * | 2022-02-11 | 2022-04-15 | 贵州翰凯斯智能技术有限公司 | Differential active steering system of self-walking robot platform and control method |
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| CN1502513A (en) * | 2002-11-20 | 2004-06-09 | 中国科学技术大学 | Self-balance electric bicycle |
| US20070131461A1 (en) * | 2003-10-27 | 2007-06-14 | Simon Treadwell | Motorized towing device |
| CN106185722A (en) * | 2016-07-14 | 2016-12-07 | 安徽宇锋仓储设备有限公司 | Electricity turns to forklift |
| CN107010569A (en) * | 2017-05-19 | 2017-08-04 | 宁波如意股份有限公司 | A kind of fork truck |
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| KR101797053B1 (en) * | 2016-10-28 | 2017-11-14 | 네이버 주식회사 | Electrically driven moving vehicle |
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2018
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| CN1502513A (en) * | 2002-11-20 | 2004-06-09 | 中国科学技术大学 | Self-balance electric bicycle |
| US20070131461A1 (en) * | 2003-10-27 | 2007-06-14 | Simon Treadwell | Motorized towing device |
| CN107233168A (en) * | 2016-03-25 | 2017-10-10 | 扬顶(天津)商贸有限公司 | The motion sensing manipulation handle and front frame mechanism of a kind of electric wheelchair |
| CN106185722A (en) * | 2016-07-14 | 2016-12-07 | 安徽宇锋仓储设备有限公司 | Electricity turns to forklift |
| KR101797053B1 (en) * | 2016-10-28 | 2017-11-14 | 네이버 주식회사 | Electrically driven moving vehicle |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111367298A (en) * | 2020-05-07 | 2020-07-03 | 哈尔滨理工大学 | STM 32-based vehicle intelligent safety driving control system |
| CN112356885A (en) * | 2020-11-24 | 2021-02-12 | 北京机械设备研究所 | Electric tractor with guarantee |
| CN113691931A (en) * | 2021-07-16 | 2021-11-23 | 国网宁夏电力有限公司固原供电公司 | Scheduling system of hand-push single-shaft carrier |
| CN114348110A (en) * | 2022-02-11 | 2022-04-15 | 贵州翰凯斯智能技术有限公司 | Differential active steering system of self-walking robot platform and control method |
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| PB01 | Publication | ||
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Application publication date: 20180817 |