CN109624678A - A kind of low-mounting height heavy duty steering wheel system - Google Patents
A kind of low-mounting height heavy duty steering wheel system Download PDFInfo
- Publication number
- CN109624678A CN109624678A CN201811646502.6A CN201811646502A CN109624678A CN 109624678 A CN109624678 A CN 109624678A CN 201811646502 A CN201811646502 A CN 201811646502A CN 109624678 A CN109624678 A CN 109624678A
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- motor
- steering
- steering wheel
- encoder
- mounting height
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- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 20
- 238000006243 chemical reaction Methods 0.000 claims abstract description 10
- 230000001360 synchronised effect Effects 0.000 abstract description 2
- 238000009434 installation Methods 0.000 description 4
- 230000005611 electricity Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
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
- B60K1/00—Arrangement or mounting of electrical propulsion units
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
-
- 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
-
- 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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Power Engineering (AREA)
- Power Steering Mechanism (AREA)
- Retarders (AREA)
Abstract
The invention discloses a kind of low-mounting height heavy duty steering wheel systems, including servo-driver, driving motor, steering motor, planetary reduction gear, primary gear speed reducing device, secondary gear reducer, limit switch, steering gear body driving wheel and bearing, the servo-driver connect with driving motor, steering motor, the first encoder, second encoder respectively.Low-mounting height heavy duty steering wheel system of the invention not only can provide lesser volume and mounting height for AGV robot, meet AGV in the operation of small space, additionally it is possible to provide bigger carrying and tractive load ability, meet the heavy load demand of AGV；The present invention uses the Frequency conversion control technical solution based on permanent magnet synchronous motor, and drive system and steering system is carried out in structural body and system control highly integrated, realizes that the AGV robot of steering wheel system control is more flexible, stable operation.
Description
Technical field
The invention belongs to mobile robot technology fields, more particularly to a kind of low-mounting height heavy-load type steering wheel system.
Background technique
With the development of flexible manufacturing system and automated warehouse storage system, to AGV (automated guided vehicle) robot
More stringent requirements are proposed for performance, reliability and intelligent level.The most basic function of AGV robot is autonomous operation, driving
It is one of critical component and the core technology of AGV robot for realizing the function with guidance system, performance and reliability are straight
Connect the Performance And Reliability that decide AGV robot.
There is also following deficiencies for the driving of routine AGV use currently on the market and steering system technical solution:
(1) drive system and steering system of most of AGV robots are all made of driver+brush motor or alternating current asynchronous
Motor+fixed speed ratio retarder transmission framework, and the reliability of brush motor is low, volume is larger, maintenance cost is high, exchanges different
Walk that motor volume is larger and low efficiency, it is low that overall plan controls precision, is unable to satisfy more and more customer demands；
(2) tractive load of steering wheel system and bearing capacity are affected by volume size, negative to improve carrying and traction
Loading capability, often overall volume is larger for steering wheel ontology, causes AGV vehicle body higher, and limiting AGV robot some has space height
Degree requires and the applications of requirement for bearing capacity；
(3) relatively conventional differential drive device in the market, can be realized the traveling and turning function of AGV, but the dress
The operation stability set is relatively poor, easily hair failure, and bearing capacity is relatively low.
Summary of the invention
The purpose of the present invention is to provide a kind of low-mounting height heavy duty steering wheel system, the steering wheel system structure is compact, pacifies
Dress height is low, bearing capacity is strong, good reliability, control precision height, is more suitably applied to mounting height, bearing capacity and control essence
Degree is simultaneously on the high-performance AGV that requires, at the same debugging maintenance, reliability, in terms of with advantage.
Realize the technical solution of the object of the invention are as follows: a kind of low-mounting height heavy duty steering wheel system, including servo-driver,
Driving motor, steering motor, planetary reduction gear, primary gear speed reducing device, secondary gear reducer, the first encoder, second are compiled
Code device, brake, limit switch and steering gear body, the servo-driver are encoded with driving motor, steering motor, first respectively
Device, second encoder connection；
First encoder is mounted on driving motor, and the drive shaft of driving motor is connected with secondary gear reducer；Braking
Device is mounted on the output shaft of secondary gear reducer；Secondary gear reducer is arranged in the gear-box of steering wheel ontology；
Second encoder is mounted in steering motor, and planetary reduction gear is mounted on the output shaft of steering motor, and planet subtracts
The output shaft of fast device is connect by mounting disc with primary gear speed reducing device, and primary gear speed reducing device is arranged by bearing in steering wheel sheet
The top of body；The internal tooth of the driving wheel of steering wheel ontology is connect with secondary gear reducer；Limit switch is for limiting steering motor
Position；
When servo-driver receives the driving speed instruction of higher controller sending, driven by output PWM wave control
Dynamic motor operating, and drive driving wheel to rotate by secondary gear reducer, the first encoder Real-time Feedback motor pole position,
By with instruction compared with after carry out PID arithmetic, to realize two ring closed-loop control of Frequency conversion control；
When servo-driver receives the steering position instruction of higher controller sending, turned by output PWM wave control
It is operated to motor, and driving wheel rotation is driven by planetary reduction gear, second encoder Real-time Feedback motor pole position passes through
PID arithmetic is carried out after compared with instruction, to realize the full tricyclic closed-loop control of Frequency conversion control.
Compared with prior art, remarkable advantage of the invention are as follows: (1) servo-driver is set with steering wheel ontology progress matching
Meter, control performance is more preferable, more efficient；(2) servo-driver is " one drag two " control mode, and a driver realizes drive simultaneously
Dynamic assembly and the control for turning to assembly, have the characteristics that requirement small in size, easy for installation, satisfaction has space to limit；(3)
Driving and turning function are all made of full servo control mode, improve the control precision and stability of steering wheel system；(4) system is same
When compatible 24V and 48V voltage model of power supply, meet different clients demand；(5) single steering wheel bearing capacity is up to 1T or more, together
When with 130 ° or more of steering capability；(6) steering wheel ontology mounting height is not more than 200mm, meets the sky of low-mounting height AGV
Between demand.
Detailed description of the invention
Fig. 1 is the system composition and schematic diagram of invention.
Specific embodiment
As shown in Figure 1, a kind of low-mounting height heavy duty steering wheel system, including servo-driver 1, driving motor 2, steering electricity
Machine 3, planetary reduction gear 5, primary gear speed reducing device 9, secondary gear reducer 4, the first encoder 7, second encoder 8, braking
Device 10, limit switch 11 and steering gear body 6, the servo-driver 1 are encoded with driving motor 2, steering motor 3, first respectively
Device 7, second encoder 8 connect；
First encoder 7 is mounted on driving motor 2, and the drive shaft of driving motor 2 is connected with secondary gear reducer 4；
Brake 10 is mounted on the output shaft of secondary gear reducer 4；The gear of steering wheel ontology 6 is arranged in secondary gear reducer 4
In case；
Second encoder 8 is mounted in steering motor 3, and planetary reduction gear 5 is mounted on the output shaft of steering motor 3, row
The output shaft of star retarder 5 is connect by mounting disc with primary gear speed reducing device 9, and primary gear speed reducing device 9 is arranged by bearing
At the top of steering wheel ontology 6；The internal tooth of the driving wheel of steering wheel ontology 6 is connect with secondary gear reducer 4；
Limit switch 11 is arranged in mounting disc, limits the position of steering motor 3；
The output shaft of steering motor 3 is vertical with the output shaft of mounting disc, driving motor 2 simultaneously, and mounting disc and driving
The output shaft of motor 2 is parallel；
When servo-driver 1 receives the driving speed instruction of higher controller sending, driven by output PWM wave control
Dynamic motor 2 operates, and drives driving wheel rotation, 7 Real-time Feedback motor pole position of the first encoder by secondary gear reducer 4
Set, by with instruction compared with after carry out PID arithmetic, to realize two ring closed-loop control of Frequency conversion control；
When servo-driver 1 receives the steering position instruction of higher controller sending, turned by output PWM wave control
It is operated to motor 3, and drives driving wheel to rotate by planetary reduction gear 5,8 Real-time Feedback motor pole position of second encoder,
By with instruction compared with after carry out PID arithmetic, to realize the full tricyclic closed-loop control of Frequency conversion control.
Further, the shell of driving motor 2 is fixedly mounted on the gear-box of steering wheel ontology 6.
Further, the multi-turn supplying cell of second encoder 8 is installed on the cable of steering motor 3.
The following describes the present invention in detail with reference to examples.
Embodiment
Low-mounting height heavy duty steering wheel system of the invention includes servo-driver, drive assembly, turns to assembly；Steering wheel system
Control section unite using the technical solution of " Frequency conversion control based on permanent magnet synchronous motor ", body part progress is integrated to be set
Steering wheel control section and body part are carried out system globe area, guarantee the high-precision, high reliability and the convenience used of product by meter
Property.
The drive assembly is used to drive the vehicle wheel rotation of steering wheel ontology, achievees the purpose that AGV is travelled；The drive assembly
Including gear case assembly, driving wheel, motor and brake；The gear case assembly includes gear-box and second gear reduction unit
Structure, the two reduction gear are integrated in gear-box；The driving wheel is installed on gear-box, and forward and reverse can be rotated；
The motor is fixed on gear-box；The brake is installed on two reduction gear output shaft；The torque of the motor is logical
It crosses second gear reduction unit structure and is transferred to driving wheel, guarantee that driving wheel exports enough torque to drive AGV to travel.
The rotation for turning to assembly and being used for steering wheel ontology, achievees the purpose that AGV is turned to；The steering assembly contains back
Turn bearing, level-one pinion gear, motor, planetary reduction gear, mounting plate etc.；The level-one pinion gear is connect with motor output shaft, and
It is engaged with pivoting support；The motor is fixed on mounting plate, and the torque of the motor passes through level-one pinion gear and pivoting support
It is transferred to steering wheel ontology, the relative rotation of steering wheel ontology and AGV car body is formed, that is, realizes the turning function of AGV.
The steering wheel ontology realizes the promotion of its bearing capacity by enhancing bearing intensity, guarantees mounting height 200mm
Within and carrying be not less than 1T.
The servo-driver is " one drag two " control mode, and a driver realizes drive system and steering system simultaneously
Control, realize the integration of compact of servo-driver, have the characteristics that easy for installation, small in size, at low cost.
The motor include driving motor and steering motor, be servo motor, by using high-precision angle value encoder as
Feedback device ensure that the control precision of motor.
The planetary reduction gear and steering motor are integrated, and steering wheel ontology is installed in the form of decelerating motor.
As shown in Figure 1, according to AGV robot driving function when driving and turning function, the present invention will be described.
Steering integrated steering wheel system is driven in big dotted line frame for high integration.Wherein, servo-driver 1 includes driving function
Can be with the control of turning function, it can receive the control instruction that higher controller issues by bus, also can receive motor
The position of magnetic pole of encoder feedback can also carry out the data acquisition of the analog quantitys such as phase current；First encoder 7 and brake 10
It is mounted on driving motor 2, and is connected with secondary gear reducer 4, then integrated installation is on steering wheel ontology 6；Second compiles
Code device 8 is mounted in steering motor 3；Planetary reduction gear 5 and motor 3 are integrated, and 9 integrated installation of primary gear speed reducing device is in rudder
It takes turns on ontology 6；Steering wheel ontology 6 includes gear-box, driving wheel, bearing etc.；Limit switch 11 is installed on steering wheel ontology 6, is used for
The protection of steering angle；Position feedback 12 is potentiometer, and the final output for steering angle acquires, and is carried out as stand-by provision
The performance monitoring of steering wheel system.
Driving function: when servo-driver 1 receives the driving speed instruction of higher controller sending, pass through output
PWM wave controls motor 2 and operates, and drives driving wheel rotation, 7 Real-time Feedback motor pole position of the first encoder by retarder 4
Set, by with instruction compared with after carry out PID arithmetic, to realize two ring closed-loop control of Frequency conversion control.When encountering urgent feelings
Condition or when needing to stop, can realize the management of driving function by closing brake.To realize AGV robot it is steady,
Accurately, it flexibly travels.
Turning function: when servo-driver 1 receives the steering position instruction of higher controller sending, pass through output
PWM wave controls steering motor 3 and operates, and drives driving wheel rotation, second encoder 8 Real-time Feedback electricity by planetary reduction gear 5
Machine position of magnetic pole, by with instruction compared with after carry out PID arithmetic, to realize the full tricyclic closed-loop control of Frequency conversion control.When
Steering occur abnormal position it is excessive when, driving function and turning function can be carried out by limit switch returns to zero operation, it is ensured that AGV
The safety of robot.To realize steady, accurate, the flexible traveling of AGV robot.
Claims (7)
1. a kind of low-mounting height heavy duty steering wheel system, which is characterized in that including servo-driver (1), driving motor (2), turn
To motor (3), planetary reduction gear (5), primary gear speed reducing device (9), secondary gear reducer (4), the first encoder (7),
Two encoders (8), brake (10), limit switch (11) and steering gear body (6), the servo-driver (1) respectively with driving
Motor (2), steering motor (3), the first encoder (7), second encoder (8) connection；
First encoder (7) is mounted on driving motor (2), drive shaft and secondary gear reducer (4) phase of driving motor (2)
Even；Brake (10) is mounted on the output shaft of secondary gear reducer (4)；Secondary gear reducer (4) is arranged in steering wheel sheet
In the gear-box of body (6)；
Second encoder (8) is mounted in steering motor (3), and planetary reduction gear (5) is mounted on the output shaft of steering motor (3)
On, the output shaft of planetary reduction gear (5) is connect by mounting disc with primary gear speed reducing device (9), and primary gear speed reducing device (9) is logical
Bearing setting is crossed at the top of steering wheel ontology (6)；The internal tooth of the driving wheel of steering wheel ontology (6) and secondary gear reducer (4) are even
It connects；Limit switch (11) is used to limit the position of steering motor (3)；
When servo-driver (1) receives the driving speed instruction of higher controller sending, pass through output PWM wave control driving
Motor (2) operating, and driving wheel rotation, the first encoder (7) Real-time Feedback motor magnetic are driven by secondary gear reducer (4)
Pole position, by with instruction compared with after carry out PID arithmetic, to realize two ring closed-loop control of Frequency conversion control；
When servo-driver (1) receives the steering position instruction of higher controller sending, turned to by output PWM wave control
Motor (3) operating, and driving wheel rotation, second encoder (8) Real-time Feedback motor pole position are driven by planetary reduction gear (5)
Set, by with instruction compared with after carry out PID arithmetic, to realize the full tricyclic closed-loop control of Frequency conversion control.
2. low-mounting height heavy duty steering wheel system according to claim 1, which is characterized in that the output of steering motor (3)
Axis is vertical with the output shaft of mounting disc, driving motor (2) simultaneously, and mounting disc is parallel with the output shaft of driving motor 2.
3. low-mounting height heavy duty steering wheel system according to claim 1, which is characterized in that steering wheel system further includes position
Feedback device (12), for acquiring steering angle.
4. low-mounting height heavy duty steering wheel system according to claim 3, which is characterized in that position feedback device (12) is
Potentiometer.
5. low-mounting height heavy duty steering wheel system according to claim 1, which is characterized in that the shell of driving motor (2)
It is fixedly mounted on the gear-box of steering wheel ontology (6).
6. low-mounting height heavy duty steering wheel system according to claim 1, which is characterized in that the cable of steering motor (3)
On the multi-turn supplying cell of second encoder (8) is installed.
7. low-mounting height heavy duty steering wheel system according to claim 1, which is characterized in that limit switch (11) setting exists
In mounting disc.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811646502.6A CN109624678A (en) | 2018-12-30 | 2018-12-30 | A kind of low-mounting height heavy duty steering wheel system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811646502.6A CN109624678A (en) | 2018-12-30 | 2018-12-30 | A kind of low-mounting height heavy duty steering wheel system |
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| Publication Number | Publication Date |
|---|---|
| CN109624678A true CN109624678A (en) | 2019-04-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811646502.6A Pending CN109624678A (en) | 2018-12-30 | 2018-12-30 | A kind of low-mounting height heavy duty steering wheel system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111645508A (en) * | 2019-12-30 | 2020-09-11 | 江苏金陵智造研究院有限公司 | Heavy-load steering wheel system |
| CN113219963A (en) * | 2021-03-25 | 2021-08-06 | 意欧斯物流科技(上海)有限公司 | Double-steering-wheel motion control system of AGV (automatic guided vehicle) |
| CN115028118A (en) * | 2022-08-11 | 2022-09-09 | 天津赛象科技股份有限公司 | Servo module type omnibearing driving mechanism and method and automatic guide vehicle |
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| CN106598050A (en) * | 2016-12-09 | 2017-04-26 | 南京晨光集团有限责任公司 | High-integration-level driving and steering integrated steering wheel system |
| CN107719466A (en) * | 2017-11-01 | 2018-02-23 | 山东大学 | One kind drives steering integrated steering wheel module and its application |
| CN108081946A (en) * | 2017-11-13 | 2018-05-29 | 深圳先进技术研究院 | The electronic directive wheel of omnidirectional and robot, vehicle with the electronic directive wheel of the omnidirectional |
| CN109050244A (en) * | 2018-09-04 | 2018-12-21 | 浙江同筑科技有限公司 | A kind of high-precision AGV drives steering integrated device and its control method |
-
2018
- 2018-12-30 CN CN201811646502.6A patent/CN109624678A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106598050A (en) * | 2016-12-09 | 2017-04-26 | 南京晨光集团有限责任公司 | High-integration-level driving and steering integrated steering wheel system |
| CN107719466A (en) * | 2017-11-01 | 2018-02-23 | 山东大学 | One kind drives steering integrated steering wheel module and its application |
| CN108081946A (en) * | 2017-11-13 | 2018-05-29 | 深圳先进技术研究院 | The electronic directive wheel of omnidirectional and robot, vehicle with the electronic directive wheel of the omnidirectional |
| CN109050244A (en) * | 2018-09-04 | 2018-12-21 | 浙江同筑科技有限公司 | A kind of high-precision AGV drives steering integrated device and its control method |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111645508A (en) * | 2019-12-30 | 2020-09-11 | 江苏金陵智造研究院有限公司 | Heavy-load steering wheel system |
| WO2021136248A1 (en) * | 2019-12-30 | 2021-07-08 | 江苏金陵智造研究院有限公司 | Heavy-loaded steering wheel system |
| CN113219963A (en) * | 2021-03-25 | 2021-08-06 | 意欧斯物流科技(上海)有限公司 | Double-steering-wheel motion control system of AGV (automatic guided vehicle) |
| CN115028118A (en) * | 2022-08-11 | 2022-09-09 | 天津赛象科技股份有限公司 | Servo module type omnibearing driving mechanism and method and automatic guide vehicle |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190416 |
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