CN111071333B - AGV four-wheel counterweight steering system - Google Patents
AGV four-wheel counterweight steering system Download PDFInfo
- Publication number
- CN111071333B CN111071333B CN201911371087.2A CN201911371087A CN111071333B CN 111071333 B CN111071333 B CN 111071333B CN 201911371087 A CN201911371087 A CN 201911371087A CN 111071333 B CN111071333 B CN 111071333B
- Authority
- CN
- China
- Prior art keywords
- steering
- proportional valve
- oil cylinder
- adjusting mechanism
- tire
- 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.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/02—Steering controls, i.e. means for initiating a change of direction of the vehicle vehicle-mounted
- B62D1/04—Hand wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/02—Steering controls, i.e. means for initiating a change of direction of the vehicle vehicle-mounted
- B62D1/16—Steering columns
-
- 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
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/062—Details, component parts
-
- 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
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/08—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle characterised by type of steering valve used
-
- 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
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/09—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle characterised by means for actuating valves
- B62D5/093—Telemotor driven by steering wheel movement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/001—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits the torque NOT being among the input parameters
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses an AGV four-wheel balancing weight steering system, and relates to the AGV steering technology. In the invention: the lower end side of the universal shaft is connected with a steering seat; a steering encoder/potentiometer is arranged on the lower end side of the steering seat; the steering oil cylinder is connected with a steering adjusting mechanism of a steering tire through an oil cylinder output connecting rod/mechanism; a steering longitudinal shaft which synchronously rotates with the steering adjusting mechanism is arranged on the steering adjusting mechanism; the upper end of the steering longitudinal shaft is provided with a driving gear; a driven gear driven to rotate by a driving gear is mounted on a supporting flat plate on the upper side of the steering adjusting mechanism; an angle sensor is arranged above the driven gear. According to the invention, through constructing the linkage and detection matching mechanism of manual steering and electronic intelligent steering and correspondingly adjusting the steering proportional valve, manual and electric double-interchange operation is better realized, and meanwhile, the stability and smoothness during steering are ensured, so that the steering force is small and light, and the steering mechanism can be better applied to the steering process of the unmanned vehicle.
Description
Technical Field
The invention relates to the technical field of AGV steering, in particular to an AGV four-wheel balancing weight steering system.
Background
An AGV, an Automated Guided Vehicle, is an Automated Guided Vehicle, which is a Vehicle equipped with an electromagnetic or optical automatic guide device, which can travel along a predetermined guide path, and has safety protection and various transfer functions. When AGV turns to control, traditional manual turning and intelligent electron turn to all need better application wherein, how better realization manual work and two interchange operations of electricity, stationarity, ride comfort when guaranteeing to turn to simultaneously just become the AGV and turn to the problem that the in-process need notice and solve.
Disclosure of Invention
The invention provides an AGV four-wheel balancing weight steering system, which better realizes manual and electric double interchange operation, ensures the stability and smoothness during steering, ensures small and light steering force and is better applied to the steering process of an unmanned vehicle.
In order to solve the technical problems, the invention is realized by the following technical scheme:
the invention provides an AGV four-wheel balancing weight steering system, which comprises an instrument frame on the AGV, wherein a steering wheel is arranged above the instrument frame, the lower side of the steering wheel is connected with a direction steering column penetrating through the instrument frame, and the lower end side of the direction steering column is connected with a cardan shaft which is obliquely arranged; the lower end side of the universal shaft is connected with a steering seat; the lower end side of the steering seat is provided with a steering encoder/potentiometer.
Comprises a steering oil cylinder connected with a steering proportional valve; comprises a steering tyre and a steering adjusting mechanism connected with the steering tyre; the steering oil cylinder is connected with a steering adjusting mechanism of a steering tire through an oil cylinder output connecting rod/mechanism; a steering longitudinal shaft which synchronously rotates with the steering adjusting mechanism is arranged on the steering adjusting mechanism; the upper end of the steering longitudinal shaft is provided with a driving gear; a driven gear driven to rotate by a driving gear is mounted on a supporting flat plate on the upper side of the steering adjusting mechanism; an angle sensor is arranged above the driven gear; the lower end of the angle sensor is provided with an angle transmission revolving shaft which rotates with the driven gear.
As a preferable technical scheme of the invention, a mounting bracket for supporting the angle sensor is arranged on a supporting flat plate on the upper side of the steering adjusting mechanism.
The invention relates to a preferable technical scheme, which comprises the steps of building an artificial steering control system, manually rotating a steering wheel through an operator, linking a steering column and a universal shaft to rotate, wherein the universal shaft is linked with a connecting shaft on a steering seat to rotate, the connecting shaft on the steering seat transmits steering displacement to a steering encoder/potentiometer, the steering encoder/potentiometer transmits rotation speed information and a rotation forward and reverse direction signal to a steering proportional valve controller, the steering proportional valve controller analyzes and processes the rotation speed information and the rotation forward and reverse direction signal transmitted by the steering encoder/potentiometer, and outputs a control signal to control the steering proportional valve to drive a steering oil cylinder to act to drive a steering tire to rotate left/right.
The optimal technical scheme includes that an electronic intelligent steering system is built, a steering control system/controller directly transmits a steering signal to a steering proportional valve controller, the steering proportional valve controller drives the interior of a steering proportional valve to open and close and reverse a loop and controls the flow of steering oil, the steering proportional valve outputs to drive a steering oil cylinder to act, and the steering oil cylinder drives a steering tire to steer.
When the steering tire steers, the driving gear is driven to rotate through the steering longitudinal shaft, the driving gear drives the driven gear to rotate, the driven gear transmits rotation information/signals to the angle sensor through the angle transmission rotating shaft, the angle sensor transmits the detected steering angle information to the steering control system/controller, and the steering control system/controller judges the actual steering angle of the steering tire according to the steering angle information detected by the angle sensor, drives and adjusts the steering proportional valve and outputs the corresponding steering angle.
As a preferred technical scheme of the invention, the steering proportional valve is provided with a left/right steering output port communicated with the steering oil cylinder; an electronically controlled three-position four-way reversing proportional valve for switching an oil circuit is arranged in the steering proportional valve.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, through constructing the linkage and detection matching mechanism of manual steering and electronic intelligent steering and correspondingly adjusting the steering proportional valve, manual and electric double-interchange operation is better realized, and meanwhile, the stability and smoothness during steering are ensured, so that the steering force is small and light, and the steering mechanism can be better applied to the steering process of the unmanned vehicle.
Drawings
FIG. 1 is a schematic diagram of the overall apparatus system of the present invention;
FIG. 2 is a schematic view of the control valve and surrounding structure of the present invention;
FIG. 3 is a schematic diagram of the control of the manual steering according to the present invention;
FIG. 4 is a schematic diagram of the control process of the electronic intelligent steering system of the present invention;
wherein: 1-an instrument rack; 2-a steering wheel; 3-a steering column; 4-a cardan shaft; 5-a steering seat; 6-steering encoder/potentiometer; 7-a steering oil cylinder; 8-a steering adjustment mechanism; 9-steering the longitudinal axis; 10-a steered tire; 11-a drive gear; 12-a driven gear; 13-mounting a bracket; 14-an angle sensor; the 15-degree angle conducts the rotating shaft.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The invention relates to an AGV four-wheel balancing weight steering system, which comprises an instrument frame 1 on the AGV, wherein a steering wheel 2 is arranged above the instrument frame, the lower side of the steering wheel 2 is connected with a direction steering column 3 penetrating through the instrument frame 1, and the lower end side of the direction steering column 3 is connected with a cardan shaft 4 which is obliquely arranged; the lower end side of the universal shaft 4 is connected with a steering seat 5; a steering encoder/potentiometer 6 is mounted on the lower end side of the steering base 5.
Comprises a steering oil cylinder 7 connected with a steering proportional valve; comprises a steering tire 10 and a steering adjusting mechanism 8 connected with the steering tire 10; the steering oil cylinder 7 is connected with a steering adjusting mechanism 8 of a steering tire 10 through an oil cylinder output connecting rod/mechanism; a steering longitudinal shaft 9 which rotates synchronously with the steering adjusting mechanism 8 is arranged on the steering adjusting mechanism 8; the upper end of the steering vertical shaft 9 is provided with a driving gear 11; a driven gear 12 driven to rotate by a driving gear 11 is arranged on a supporting flat plate on the upper side of the steering adjusting mechanism 8; an angle sensor 14 is arranged above the driven gear 12; the lower end of the angle sensor 14 is provided with an angle transmission rotary shaft 15 which rotates with the driven gear 12.
Further, a mounting bracket 13 for supporting an angle sensor 14 is provided on the support plate on the upper side of the steering adjustment mechanism 8.
Further, the manual steering control system is built, manual steering is achieved through a manual rotating steering wheel 2, the steering column 3 in the linkage direction and the universal shaft 4 rotate, the universal shaft 4 is in linkage with a connecting shaft on a steering seat 5 to rotate, steering displacement is conducted to a steering encoder/potentiometer 6 through the connecting shaft on the steering seat 5, the steering encoder/potentiometer 6 transmits rotation speed information and rotation forward and reverse direction signals to a steering proportional valve controller, the steering proportional valve controller analyzes and processes the rotation speed information and the rotation forward and reverse direction signals transmitted by the steering encoder/potentiometer 6, and a control signal is output to control the steering proportional valve, so that the steering oil cylinder 7 is driven to act, and the steering tire 10 is driven to rotate left/right.
Further, the electronic intelligent steering system is built, a steering control system/controller directly transmits a steering signal to a steering proportional valve controller, the steering proportional valve controller drives the interior of the steering proportional valve to open, close and reverse a loop, the flow of steering oil is controlled, the steering proportional valve outputs to drive a steering oil cylinder 7 to act, and the steering oil cylinder 7 drives a steering tire 10 to steer.
When the steering tire 10 is steered, the driving gear 11 is driven to rotate through the steering longitudinal shaft 9, the driving gear 11 drives the driven gear 12 to rotate, the driven gear 12 transmits rotation information/signals to the angle sensor 14 through the angle transmission rotating shaft 15, the angle sensor 14 transmits detected steering angle information to the steering control system/controller, and the steering control system/controller judges the actual steering angle of the steering tire 10 according to the steering angle information detected by the angle sensor, drives and adjusts the steering proportional valve, and outputs the corresponding steering angle.
Further, the steering proportional valve is provided with a left/right steering output port communicated with the steering oil cylinder 7; an electronically controlled three-position four-way reversing proportional valve for switching an oil circuit is arranged in the steering proportional valve.
In the present invention:
the electronic intelligent steering during manual rotation or unmanned driving can be carried out according to actual conditions.
The first condition is as follows: manual steering
The manual steering is carried out by manually rotating a steering wheel to drive a steering column, a universal shaft and a connecting shaft to drive a potentiometer, the potentiometer transmits the rotating speed in the positive and negative directions to a steering proportional valve controller, the rotating speed is analyzed and processed by the steering proportional valve controller and converted into a control signal, the steering proportional valve is controlled, and the steering oil cylinder drives a steering tire to rotate left and right.
Case two: electronic intelligent steering
A. The steering controller or the steering control system directly controls a steering signal to the steering proportional valve, the steering proportional valve is enabled to realize opening and closing of the steering loop and control over the flow of the oil body, and the proportional valve controls the steering oil cylinder to drive the steering tire to realize steering;
B. the steering wheel is characterized in that an angle sensor is arranged on a steering wheel rotating shaft, the angle sensor detects the real-time steering angle of a steering wheel and transmits steering angle information to a steering controller, and the steering controller identifies the actual angle of a steering tire according to information and data transmitted by the steering angle sensor, so that the electro-hydraulic proportional valve is controlled to be opened and closed, and the steering angle output by the proportional valve is adjusted.
The details of the steering proportional valve during steering are disclosed in the patent (an AVG four-wheel-balanced steering proportional valve) of the present company, and will not be described herein.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (3)
1. The utility model provides a AGV four-wheel counterweight steering system, includes instrument rack (1) on the AGV, instrument rack top installation steering wheel (2), direction steering column (3) that pass instrument rack (1), its characterized in that are connected to steering wheel (2) downside:
the lower end side of the steering column (3) is connected with a cardan shaft (4) which is obliquely arranged;
the lower end side of the universal shaft (4) is connected with a steering seat (5);
a steering encoder or a potentiometer (6) is arranged on the lower end side of the steering seat (5);
comprises a steering oil cylinder (7) connected with a steering proportional valve;
comprises a steering tire (10) and a steering adjusting mechanism (8) connected with the steering tire (10);
the steering oil cylinder (7) is connected with a steering adjusting mechanism (8) of a steering tire (10) through an oil cylinder output connecting rod mechanism;
a steering longitudinal shaft (9) which rotates synchronously with the steering adjusting mechanism (8) is arranged on the steering adjusting mechanism (8);
the upper end of the steering longitudinal shaft (9) is provided with a driving gear (11);
a driven gear (12) driven to rotate by a driving gear (11) is mounted on a supporting flat plate on the upper side of the steering adjusting mechanism (8);
an angle sensor (14) is arranged above the driven gear (12);
the lower end of the angle sensor (14) is provided with an angle transmission rotating shaft (15) which rotates with the driven gear (12);
the manual steering control system is built, a steering wheel (2) is manually rotated through manual steering, a steering column (3) in a linkage direction is rotated, a universal shaft (4) is rotated, the universal shaft (4) is linked with a connecting shaft on a steering seat (5) to rotate, the connecting shaft on the steering seat (5) transmits steering displacement to a steering encoder or a potentiometer (6), the steering encoder or the potentiometer (6) transmits rotation speed information and a rotation forward and reverse direction signal to a steering proportional valve controller, the steering proportional valve controller analyzes and processes the rotation speed information and the rotation forward and reverse direction signal transmitted by the steering encoder or the potentiometer (6), outputs a control signal to control the steering proportional valve, drives a steering oil cylinder (7) to act, and drives a steering tire (10) to rotate left or right;
the electronic intelligent steering system is built, a steering control system or a controller directly transmits a steering signal to a steering proportional valve controller, the steering proportional valve controller drives the interior of a steering proportional valve to open, close and reverse a loop, the flow of steering oil is controlled, the steering proportional valve outputs to drive a steering oil cylinder (7) to act, and the steering oil cylinder (7) drives a steering tire (10) to steer;
when the steering tire (10) turns, the driving gear (11) is driven to rotate through the steering longitudinal shaft (9), the driving gear (11) drives the driven gear (12) to rotate, the driven gear (12) transmits rotation information or signals to the angle sensor (14) through the angle transmission rotating shaft (15), the angle sensor (14) transmits detected steering angle information to the steering control system or the controller, and the steering control system or the controller judges the actual steering angle of the steering tire (10) according to the steering angle information detected by the angle sensor, drives and adjusts the steering proportional valve, and outputs the corresponding steering angle.
2. An AGV four-wheel counterweight steering system according to claim 1, further comprising:
and a mounting bracket (13) for supporting an angle sensor (14) is arranged on the supporting flat plate on the upper side of the steering adjusting mechanism (8).
3. An AGV four-wheel counterweight steering system according to claim 1, further comprising:
the steering proportional valve is provided with a left or right steering output port communicated with the steering oil cylinder (7);
an electronically controlled three-position four-way reversing proportional valve for switching an oil circuit is arranged in the steering proportional valve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911371087.2A CN111071333B (en) | 2019-12-26 | 2019-12-26 | AGV four-wheel counterweight steering system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911371087.2A CN111071333B (en) | 2019-12-26 | 2019-12-26 | AGV four-wheel counterweight steering system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111071333A CN111071333A (en) | 2020-04-28 |
| CN111071333B true CN111071333B (en) | 2021-07-06 |
Family
ID=70318223
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911371087.2A Active CN111071333B (en) | 2019-12-26 | 2019-12-26 | AGV four-wheel counterweight steering system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111071333B (en) |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ITTO20110795A1 (en) * | 2011-09-07 | 2013-03-08 | Cnh Italia Spa | STEERABLE VEHICLE |
| DE102013206793A1 (en) * | 2013-04-16 | 2014-10-16 | Zf Friedrichshafen Ag | Arrangement for detecting a steering angle |
| EP3323771B1 (en) * | 2016-11-21 | 2019-08-28 | STILL GmbH | Industrial truck, in particular counterbalance forklift, with a hydrostatic steering device |
| CN206561896U (en) * | 2017-02-28 | 2017-10-17 | 武汉慧能机器人科技有限公司 | Omnidirectional driving wheel device and AGV dollies |
| CN206606258U (en) * | 2017-03-08 | 2017-11-03 | 苏州易摩物联科技有限公司 | Agv steering mechanism |
| CN108891482A (en) * | 2018-09-06 | 2018-11-27 | 烟台杰瑞石油装备技术有限公司 | A kind of steering control device of automatic obstacle-avoiding |
| CN110304136A (en) * | 2019-07-18 | 2019-10-08 | 上海振华重工(集团)股份有限公司 | A kind of the independent electrohydraulic steering system and method for straddle carrier wheel |
-
2019
- 2019-12-26 CN CN201911371087.2A patent/CN111071333B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN111071333A (en) | 2020-04-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106347449B (en) | One kind is man-machine to drive type electric boosting steering system and mode switching method altogether | |
| CN102267487B (en) | Electro-hydraulic power steering system based on vehicle speed and load signal control | |
| CN104002861B (en) | The transfer and its control method of a kind of intelligent vehicle | |
| CN203111294U (en) | Agricultural remote control mobile robot platform capable of rotating omni-directionally and lifting | |
| CN103010289A (en) | Omni-directional steering and lifting agricultural remote control mobile robot platform | |
| CN105857387A (en) | Angle-changeable transmission device, vehicle chassis and control method thereof | |
| CN202656920U (en) | Following illuminating device of vehicle at corners on basis of single chip microcomputer | |
| CN104401388A (en) | Intelligent electro-hydraulic steering system | |
| CN202098458U (en) | Electrically-controlled electric four-wheel steering system | |
| CN101585378A (en) | Automobile | |
| CN105835945A (en) | Steering mechanism and wheeled robot including same | |
| CN203078587U (en) | Hydraulic power steering device capable of being remotely controlled and steering system | |
| CN110053663A (en) | A kind of steering boost system and power steering method | |
| CN106541885A (en) | A kind of car light follow-up control method based on steering wheel angle and vehicle roll angle | |
| CN206067875U (en) | One kind is man-machine to drive type electric boosting steering system altogether | |
| CN202923418U (en) | Electronic differential control device of electric wheel vehicle | |
| CN111071333B (en) | AGV four-wheel counterweight steering system | |
| CN214952967U (en) | Industrial visual detection device capable of intelligently adjusting detection area | |
| CN208789815U (en) | Motor driven wheel assembly for automated guided vehicle | |
| CN206171556U (en) | Unmanned vehicle's a steering system | |
| CN201721387U (en) | Steering signal lamp switch-based device for automatically steering and controlling exterior rear-view mirror | |
| CN108501957A (en) | Vehicle travel support device based on cam movement | |
| CN104260727A (en) | Vertical and automatic parking system and method for four-wheel independent-drive hub motor car | |
| CN103386928A (en) | Intelligent automotive rearview mirror adjustment system | |
| CN110525506A (en) | It is a kind of for automatic driving vehicle can reduction line traffic control steering wheel |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |