CN110126912A - Control back the self-aligning steering system of positive locomotive work platform - Google Patents
Control back the self-aligning steering system of positive locomotive work platform Download PDFInfo
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- CN110126912A CN110126912A CN201910395098.8A CN201910395098A CN110126912A CN 110126912 A CN110126912 A CN 110126912A CN 201910395098 A CN201910395098 A CN 201910395098A CN 110126912 A CN110126912 A CN 110126912A
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- Prior art keywords
- steering
- self
- controller
- work platform
- aligning
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- 230000003137 locomotive effect Effects 0.000 title claims abstract description 51
- 230000005540 biological transmission Effects 0.000 claims abstract description 11
- 238000012544 monitoring process Methods 0.000 claims abstract description 8
- 230000033001 locomotion Effects 0.000 claims description 25
- 230000005611 electricity Effects 0.000 claims description 4
- 238000012545 processing Methods 0.000 claims description 3
- 238000013461 design Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- 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
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/16—Arrangement of linkage connections
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
A kind of self-aligning steering system controlling back positive locomotive work platform disclosed by the invention, it is desirable to provide a kind of intelligence degree is high, can be very good control back the positive steering system of positive locomotive work platform time.The technical scheme is that: the controller of the self-aligning steering system attended operation handle of the extreme end of chassis is set, posture, which is manipulated, according to operation handle issues steering order to travel driving system and steering motor, control steering motor forward or reverse, control drive link of being stretched or contracted by steering cylinder pushes transmission curved bar, changes the angle of deflecting roller；The data feedback for the relationship that steering cylinder is servo-actuated by electronics pull rod sensor is to controller, form the closed-loop control system of real time monitoring steered wheel angle, control acquisition judges the working condition of operation handle operational order and steering motor, action command is issued to motor driver, realizes the steering of locomotive work platform.The present invention provides great flexibilities, and space utilization rate is high.
Description
Technical field
The technology of the present invention is related to the self-aligning steering system of aircraft floor to maintain equipment locomotive work platform, and in particular to
It is a kind of with allow locomotive work platform turn to it is mobile after can self-aligning steering system easily and fast, and can guarantee engineering
The system authority of workbench linear motion.
Technical background
Since locomotive work platform is according to yard work requirements in maintenance equipment in one's power, it is desirable that locomotive work
Platform can be moved and be turned within the scope of narrow space, and need to meet the linear motion after turning to movement.And existing skill
Art mode is to allow locomotive work platform after turning to movement, and manual handling equipment is returned and just moved along a straight line afterwards.And because of present hand
Moving and operating back positive system is in the steering mechanism to equipment without the open-loop control technology under any monitoring, for rear driving wheel, front-wheel
Regardless of accelerating, the process still driven at a constant speed of slowing down, all by resistance, but this when can not also be returned just using resistance, because
Left and right wheels generate rotating torque be substantially it is equal in magnitude contrary, so steering system does not have aligning torque.Wheel
The lateral force that tire generates is vertical with tire direction of travel, and the power applied by tyre contact patch, this power is by front-wheel
Steering shaft, and there are yaw angle, this also results in this power that can not generate the torque to turn a wheel, be difficult to realize from
Positive function is moved back, " feel " that turned to when also not having curved and stability when driving, so whenever locomotive work platform
When needing to move along a straight line, requires manually to go observation and judge the steering angle of locomotive work platform, and use during the motion
It frequently goes to adjust manually, can be only achieved perfect condition.It is manually disadvantageous in that existing for adjustment, handling maneuver burden
Excessively heavy, steering is unstable, and inconvenient, inefficiency, intelligence are low.If can guarantee locomotive work platform convenient and efficient
Movement and steering under the premise of, allow locomotive work platform can turn to it is mobile after can self-aligning, when by reducing manual operation
Work difficulty, improve working efficiency, while will largely improve locomotive work platform intelligence.
Summary of the invention
In order to solve locomotive work platform frequent operation of worker, simplified mode of operation, raising in linear motion
Working efficiency, it is safe and reliable that the present invention provides one kind, and work efficiency is high, and intelligence degree is high, can be very good to control back just
The self-aligning steering system of locomotive work platform.
The technical solution adopted by the present invention to solve the technical problems is: a kind of to control back the automatic of positive locomotive work platform
Return positive steering system, comprising: be connected 1 symmetrical two transmission curved bar 2 of both ends deflecting roller, and the opposite both ends that connect are driven curved bar 2
Drive link 3, the sensing device 6 of the limit switch 4 connected by drive link 3 and the steering motor 5 that is connected, is connected to sense
Answer the electronics pull rod sensor 7 and steering cylinder 8 on 6 both sides piston rod of device, and the driving wheel being located on chassis supports frame 9
10 travel driving systems constituted and the self-aligning steering system that the extreme end of chassis is set, the controller of attended operation handle 12
11, which is characterized in that controller 11 manipulates posture according to operation handle 12 and issues steering to travel driving system and steering motor 5
Instruction, forward or reverse, control drive link 3 of stretching or contract by steering cylinder 8 pushes transmission curved bar 2 to control steering motor 5, changes
Become the angle of deflecting roller 1, realizes the steering of locomotive work platform；The relationship that steering cylinder 8 is servo-actuated by electronics pull rod sensor 7
Data feedback forms the closed-loop control system of real time monitoring 1 angle of deflecting roller to controller 11.
The present invention has the following beneficial effects: compared with the prior art
Securely and reliably.The present invention is connected directly controller 11 using operation handle 12, can by motor driver 14
Amount is directly used in the steering of deflecting roller.Control drive link 3 of stretching or contract by steering cylinder 8 pushes transmission curved bar 2, changes and turns to
The angle of wheel 1 makes the reversion of deflecting roller and steering front wheel is shimmy greatly reduces, and the hesitation not turned to enhances steering
The trace performance to operation handle and reliable safety are taken turns, without oil pump, is connected without hose, it is at low cost.Due to the system
With good modularized design, so not needing to re-start design, test, processing etc. to different systems, not only save
Expense also provides great flexibility to design different systems, and space utilization rate is high.
Work efficiency is high.The present invention is arrived the data feedback for the relationship that steering cylinder 8 is servo-actuated using electronics pull rod sensor 7
Controller 11 forms the closed-loop control system of real time monitoring 1 angle of deflecting roller；By electronics pull rod sensor to steered wheel angle
Monitoring, by steered wheel angle data feedback to controller participate in system logic relationship control closed-loop control system, make to turn to
System control is more accurate, makes operation more simple, working efficiency is higher.In the short time during returning just certainly, due to using
Micro computer control improves control stability, improves steering reversal characteristic, improves steering capability significantly.
Intelligence degree is high.The present invention issues self-aligning instruction, controller 11 to controller 11 using operation handle 12
According to the data that electronics pull rod sensor 7 is fed back to, the angle of deflecting roller 1 is judged, then to the sending of steering motor 5 rotating forward or instead
The instruction turned, control steering cylinder 8 are stretched or contract, allow deflecting roller 1 to return to the middle position pre-set, can be very good to control back
Just, the linear motion of engineering platform is realized.Self-aligning is realized to engineering platform by control, improves the intelligence of product.
Ensure that locomotive work platform conveniently turn to it is mobile under the premise of, allow locomotive work platform can turn to it is mobile after,
Steering mechanism's self-aligning guarantees the rectilinear motion mode of locomotive work platform.Worker operation difficulty is reduced, work is improved
Efficiency, and the intelligence of locomotive work platform can be improved.
Detailed description of the invention
Fig. 1 is the sectional schematic diagram for the self-aligning steering system that the present invention controls back positive locomotive work platform.
Fig. 2 is the operation principle schematic diagram of Fig. 1.
Fig. 3 is the circuit theory schematic diagram of Fig. 1.
Fig. 4 is Fig. 3 controller outline drawing.
Fig. 5 is the organigram of operation of the present invention handle.
Present invention will be further explained below with reference to the attached drawings and examples.
In figure: 1 deflecting roller, 2 transmission curved bars, 3 drive links, 4 limit switches, 5 steering motors, 6 sensing devices, 7 electronics
Pull rod sensor, 8 steering cylinders, 9 chassis supports framves, 10 driving wheels, 11 controllers, 12 operation handles, 13 movable motors, 14 electricity
Machine driver, 15 motor data collectors.
Specific embodiment
- Fig. 2 refering to fig. 1.In preferred embodiment described below, a kind of controlling back positive locomotive work platform automatic time
Positive steering system, comprising: be connected 1 symmetrical two transmission curved bar 2 of both ends deflecting roller, the opposite biography for connecting both ends transmission curved bar 2
Dynamic joining beam 3, the sensing device 6 of the limit switch 4 connected by drive link 3 and the steering motor 5 that is connected are connected to induction
Electronics pull rod sensor 7 and steering cylinder 8 on 6 both sides piston rod of device, the driving wheel 10 being located on chassis supports frame 9 are constituted
Travel driving system and the self-aligning steering system of the extreme end of chassis is set, the controller 11 of attended operation handle 12,.Control
Device 11 processed manipulates posture according to operation handle 12 and issues steering order to travel driving system and steering motor 5, and control turns to electricity
Machine 5, which is stretched or contracts forward or reverse, by steering cylinder 8, controls the promotion transmission curved bar 2 of drive link 3, changes the angle of deflecting roller 1
Degree realizes the steering of locomotive work platform；Electronics pull rod sensor 7 by steering cylinder 8 be servo-actuated relationship data feedback to control
Device 11 processed forms the closed-loop control system of real time monitoring 1 angle of deflecting roller.When locomotive work platform needs to move along a straight line, by
Operation handle 12 issues self-aligning to controller 11 and instructs, the data that controller 11 is fed back to according to electronics pull rod sensor 7,
Judge the angle of deflecting roller 1, then issue instruction forward or reverse to steering motor 5, control steering cylinder 8 is stretched or contracts, allows
Deflecting roller 1 returns to the middle position pre-set, realizes the linear motion of engineering platform.Limit switch 4 and sensing device 6 are to turn to
Take turns the control setting of 1 steering locking angle degree.It participates in turning to logic control.
The electronics pull rod sensing that the sensing device 6 that steering cylinder 8 is connected by piston rod is connected with 6 piston rod of sensing device
Device 7 realizes mechanical synchronization movement, and electronics pull rod sensor 7 monitors the angle of both ends deflecting roller 1 in real time, and feeds back to controller
11, it forms self-aligning and turns to closed-loop control system.Instruction and electronics pull rod sensor 7 of the controller 11 according to operation handle 12
The signal fed back to compares, and issues go to action instruction to system by motor driver 14 after logical operation.
When operation handle 12, which issues self-aligning to controller 11, to be instructed, controller 11 is according to electronics pull rod sensor 7
The signal fed back to judges the angle of deflecting roller 1, then according to the angle of deflecting roller 1, rotates forward to the sending of steering motor 5 or anti-
The instruction turned.When controller 11, which receives electronics pull rod sensor 7, returns to the median signal feedback preset, controller 11 stops
It only issues and instructs to steering motor 5,5 stop motion of steering motor, deflecting roller 1 returns to bit positions.When operation handle 12 is to control
When device 11 processed issues linear motion instruction, controller 11 monitors the angle of deflecting roller 1 in real time by electronics pull rod sensor 7.When
Deflecting roller 1 is in linear motion when sideslip, and controller 11 issues action command from trend steering motor 5, until deflecting roller 1
Return to middle position.Speed when locomotive work platform moves along a straight line is controlled by operation handle 12, and handle angle is bigger, and locomotive work is flat
Platform movement velocity is faster.Handle angle is smaller, and locomotive work platform movement velocity is slower.When locomotive work platform is in divertical motion
When, steering angle is controlled by operation handle 12, and the travel speed of locomotive work platform is no longer by the angle of operation handle 12 at this time
Control changes the angle control by the deflecting roller 1 of locomotive work platform, when locomotive work platform linear motion, travel speed
Control just returns operation handle 12 again.Controller 11 can feed back to the angle control of deflecting roller 1 according to electronics pull rod sensor 7
The speed of locomotive work platform Turning travel processed, locomotive work platform steering angle is bigger, and travel speed is slower.
Refering to Fig. 3-Fig. 5.Operation handle is equipped with self-aligning, right-hand rotation, left-hand rotation, advance, retrogressing, walking make to can control by
Button walks enabled control button by J-18 control line and connects motor driver.Operation handle is connected by CAN-L, CAN-H bus
Controller 11, CAN-L, CAN-H bus are connected motor data collector 15.Motor data collector 15 by J-22 control line and
J-33 control line, turned right switch XK3, left-hand rotation XK4 connect positive/negative KA5, KA6 for turning switch, and controller 11 passes through output end
XM connection electronics pull rod sensor 7, electronics pull rod sensor 7 is connected in parallel on steering motor 5, the both ends phase of 5 output end of steering motor
Even positive/negative to turn switch, for the positive/negative switch that turns by DCOV connection motor driver 14, motor driver 14 passes through UVW three-phase
Interface connects movable motor, connects brake controller by J-5 with J-13 control line.Operation handle 12 sends to controller 11 and goes
Each operational orders such as steering are walked, controller 11 passes through control information, the motor data of bus and I/O port processing operation handle 12
The information of collector 15 and electronics pull rod sensor 7 carries out the self-aligning steering system for controlling back positive locomotive work platform
Monitoring is analyzed with data, is judged the operational order of operation handle 12 and the working condition of steering motor, is analyzed through data, operation
Afterwards, correct timely action command is issued to motor driver 14.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Anyone skilled in the art adds in technical scope disclosed by the invention according to this technical solution of the present invention
With equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (10)
1. a kind of self-aligning steering system for controlling back positive locomotive work platform, comprising: be connected both ends deflecting roller (1) symmetrically
Two transmission curved bars (2), the opposite drive link (3) for connecting both ends transmission curved bar (2), the limit connected by drive link (3)
The sensing device (6) of bit switch (4) and the steering motor that is connected (5), what the driving wheel (10) being located on chassis supports frame (9) was constituted
Travel driving system, the electronics pull rod sensor (7) and steering cylinder being connected on the piston rod of sensing device (6) both sides
(8), and the self-aligning steering system of the extreme end of chassis, the controller (11) of attended operation handle (12), feature be set
It is, controller (11) manipulates posture and issue to turn to travel driving system and steering motor (5) according to operation handle (12) to be referred to
It enables, forward or reverse, stretching or contract by steering cylinder (8) controls drive link (3) promotion transmission curved bar for control steering motor (5)
(2), change the angle of deflecting roller (1), realize the steering of locomotive work platform；Electronics pull rod sensor (7) is by steering cylinder (8)
The data feedback of servo-actuated relationship forms the closed-loop control system of real time monitoring deflecting roller (1) angle to controller (11).
2. controlling back the self-aligning steering system of positive locomotive work platform as described in claim 1, it is characterised in that: work as machine
When business workbench needs to move along a straight line, self-aligning instruction, controller are issued from operation handle (12) to controller (11)
(11) data fed back to according to electronics pull rod sensor (7), judge the angle of deflecting roller (1), then send out to steering motor (5)
Instruction forward or reverse out, control steering cylinder (8) stretch or contract, and deflecting roller (1) is allowed to return to the middle position pre-set, realize
The linear motion of engineering platform.
3. controlling back the self-aligning steering system of positive locomotive work platform as described in claim 1, it is characterised in that: limit
Switching (4) and sensing device (6) is that the control of deflecting roller (1) steering locking angle degree is arranged, and participates in turning to logic control.
4. controlling back the self-aligning steering system of positive locomotive work platform as described in claim 1, it is characterised in that: turn to
The electronics pull rod sensor (7) that the sensing device (6) that oil cylinder (8) is connected by piston rod is connected with sensing device (6) piston rod
Realize mechanical synchronization movement, electronics pull rod sensor (7) monitors the angle of both ends deflecting roller (1) in real time, and feeds back to controller
(11), it forms self-aligning and turns to closed-loop control system.
5. controlling back the self-aligning steering system of positive locomotive work platform as described in claim 1, it is characterised in that: control
Device (11) is compared according to the signal that the instruction of operation handle (12) is fed back to electronics pull rod sensor (7), is transported through logic
Go to action instruction is issued to system by motor driver (14) after calculation.
6. controlling back the self-aligning steering system of positive locomotive work platform as described in claim 1, it is characterised in that: work as behaviour
Make handle (12) to when controller (11) sending self-aligning instruction, controller (11) is fed back according to electronics pull rod sensor (7)
The signal returned, judges the angle of deflecting roller (1), then according to the angle of deflecting roller (1), issued to steering motor (5) rotate forward or
The instruction of reversion；When controller (11), which receives electronics pull rod sensor (7), returns to the median signal feedback preset, control
Device (11), which stops issuing to steering motor (5), to be instructed, and steering motor (5) stop motion, deflecting roller (1) returns to bit positions.
7. controlling back the self-aligning steering system of positive locomotive work platform as described in claim 1, it is characterised in that: work as behaviour
Make handle (12) to when controller (11) sending linear motion instruction, controller (11) is real-time by electronics pull rod sensor (7)
Monitor the angle of deflecting roller (1)；When deflecting roller (1) sideslip in linear motion, controller (11) turns to electricity from trend
Machine (5) issues action command, until deflecting roller (1) returns to middle position.
8. controlling back the self-aligning steering system of positive locomotive work platform as described in claim 1, it is characterised in that: work as machine
Workbench be engaged in divertical motion, steering angle is controlled by operation handle (12), at this time the travel speed of locomotive work platform
It is no longer controlled by the angle of operation handle (12), changes the angle control by the deflecting roller (1) of locomotive work platform, until engineering work
When making platform linear motion, travel speed control just returns operation handle (12) again.
9. controlling back the self-aligning steering system of positive locomotive work platform as described in claim 1, it is characterised in that: operation
Handle is equipped with self-aligning, right-hand rotation, left-hand rotation, advance, retrogressing, and enabled control button of walking walks enabled control button and passes through J-18
Control line connects motor driver, and for operation handle by CAN-L, CAN-H bus connection controller (11), CAN-L, CAN-H are total
Line is connected motor data collector (15).
10. controlling back the self-aligning steering system of positive locomotive work platform as described in claim 1, it is characterised in that: electricity
By J-22 control line and J-33 control line, turned right switch XK3, left-hand rotation XK4 connect positive/negative turn and cut machine data collector (15)
KA5, KA6 of parallel operation, controller (11) is by output end XM connection electronics pull rod sensor (7), and electronics pull rod sensor (7) is simultaneously
Be associated in steering motor (5), the both ends of steering motor (5) output end be connected it is positive/negative turn switch, the positive/negative switch that turns passes through
DCOV connection motor driver (14), motor driver (14) connect movable motor by tri- interfaces of UVW, pass through J-5 and J-
13 control lines connect brake controller, and operation handle (12) sends each operational orders such as walking steering, control to controller (11)
Device (11) is drawn by the control information of bus and I/O port processing operation handle (12), motor data collector (15) and electronics
The information of bar sensor (7) is monitored the self-aligning steering system for controlling back positive locomotive work platform and analyzes with data,
Judge the operational order of operation handle (12) and the working condition of steering motor, analyzed through data, after operation, to motor driver
(14) correct timely action command is issued.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910395098.8A CN110126912A (en) | 2019-05-13 | 2019-05-13 | Control back the self-aligning steering system of positive locomotive work platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910395098.8A CN110126912A (en) | 2019-05-13 | 2019-05-13 | Control back the self-aligning steering system of positive locomotive work platform |
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| Publication Number | Publication Date |
|---|---|
| CN110126912A true CN110126912A (en) | 2019-08-16 |
Family
ID=67573680
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910395098.8A Pending CN110126912A (en) | 2019-05-13 | 2019-05-13 | Control back the self-aligning steering system of positive locomotive work platform |
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