CN111645508A - Heavy-load steering wheel system - Google Patents
Heavy-load steering wheel system Download PDFInfo
- Publication number
- CN111645508A CN111645508A CN201911387072.5A CN201911387072A CN111645508A CN 111645508 A CN111645508 A CN 111645508A CN 201911387072 A CN201911387072 A CN 201911387072A CN 111645508 A CN111645508 A CN 111645508A
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- China
- Prior art keywords
- steering
- driving
- motor
- encoder
- planetary reducer
- 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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- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 49
- 229920002635 polyurethane Polymers 0.000 claims abstract description 14
- 239000004814 polyurethane Substances 0.000 claims abstract description 14
- 230000007246 mechanism Effects 0.000 claims description 15
- 238000009434 installation Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000032683 aging Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
Images
Classifications
-
- 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
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
-
- 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
- B62D5/0418—Electric motor acting on road wheel carriers
-
- 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
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K2007/0038—Disposition of motor in, or adjacent to, traction wheel the motor moving together with the wheel axle
Abstract
The invention discloses a heavy-load steering wheel system which comprises a servo driver, a steering wheel body and a servo cable, wherein the steering wheel body mainly comprises a driving unit and a steering unit, the driving unit comprises a driving motor, a precise planetary reducer, a brake and a polyurethane wheel, the steering unit comprises a steering motor, a primary gear reducer and a limit switch, the servo driver is respectively connected with the driving motor, the steering motor, a driving encoder, a steering encoder and the limit switch, and the steering wheel system is in a 'one-driving-two' form and integrates driving and steering functions. The steering wheel system has the advantages of strong bearing capacity, compact structure, good reliability, high control precision, low noise and long service life.
Description
Technical Field
The invention belongs to the technical field of mobile robots, and particularly relates to a heavy-load steering wheel system.
Background
With the development of the times, automated transport is permeating into various industries, and as a core device thereof, an AGV (automatic guided vehicle) technology is also continuously developing. Under the increasingly stringent scenarios of large equipment and product transportation requirements, the configuration and load-bearing requirements of AGVs have also changed. In some heavy machinery plants, railway transportation, special industries, port airports, large-scale transformer plants, heavy-duty car manufacturing plants and other places, there is a high demand for operations such as processing, manufacturing and carrying of large-scale objects, and a heavy-duty AGV characterized by large size and high load capacity is required.
However, the technical difficulty of heavy-load AGVs is high, the structure of the heavy-load AGVs is different from that of light-load AGVs, and the standards for purchasing parts are different, so that compared with the common AGVs, the research and development and production thresholds of enterprises for entering the heavy-load AGVs are high, and in terms of the present, most of the products provided by the enterprises still mainly use the light-load AGVs and do not have high load capacity.
Disclosure of Invention
The invention aims to provide a heavy-load steering wheel system which is strong in bearing capacity, compact in structure, good in reliability, high in control precision, low in noise and long in service life.
The technical solution for realizing the purpose of the invention is as follows: a heavy-load steering wheel system comprises a servo driver, a driving motor, a steering motor, a driving planetary reducer, a steering planetary reducer, a slewing bearing, a steering pinion, a brake, a driving encoder, a steering encoder, a limit switch and a polyurethane wheel, wherein the servo driver is respectively connected with the driving motor, the steering motor, the driving encoder, the steering encoder and the limit switch;
the driving encoder and the brake are arranged on the driving motor, and the driving motor is connected with the driving planetary reducer through keys; the driving planetary reducer is connected with the polyurethane wheel and is fixedly installed through a threaded connecting piece; the shaft end of the driving motor is connected with a brake;
the steering encoder is arranged on the steering motor, an output shaft of the steering motor is connected with a steering planetary reducer, the steering planetary reducer is connected to the mounting plate through a steering motor adapter plate, a steering pinion is arranged on the output shaft of the steering motor through a baffle plate, the steering pinion and the slewing bearing form a primary gear reducer which is arranged at the top of the steering wheel body, and the slewing bearing is connected to the mounting plate;
the pair of limit switches are arranged on the mounting plate and positioned on two sides of the steering pinion, the slewing bearing is provided with limit blocks, and the mechanical limit of the steering mechanism of the steering wheel is realized through the limit blocks and the limit switches; the steering encoder cable is used for recording a multi-turn value of the steering mechanism; the output shaft of the driving motor is parallel to the mounting plate, and the output shaft of the steering motor is vertical to the mounting plate and the output shaft of the driving motor.
Compared with the prior art, the invention has the following remarkable advantages: (1) the traction load capacity of a single system can reach more than 8T, and the single system has the maximum steering capacity of 130 degrees; (2) the steering wheel body consists of a driving mechanism and a steering mechanism, wherein the driving mechanism can be used as a whole, so that the quick replacement among different complete machines can be realized, and the maintenance is convenient; (3) the servo driver and the steering wheel body are integrated into a system structure, so that the debugging problem caused by mismatching of the traditional driver and the steering wheel body is solved, and the maximum use convenience is provided for a user; (4) the cable adopts a drag chain shielded cable, has strong bending resistance, is provided with a wire clamp, and is perfectly protected; (5) the steering wheel system adopts a precise planetary reducer, so that the noise is low; (6) the system has the protection functions of overvoltage, overcurrent, limit, feedback abnormity and other faults, and is safer and more reliable.
Drawings
Fig. 1 is a cable connection diagram of a steering wheel system of a heavy duty type.
Fig. 2 is a schematic structural view of a steering wheel system of a heavy duty type.
Fig. 3 is a structural sectional view of a steering wheel system of a heavy duty type.
Detailed Description
As shown in fig. 1, 2 and 3, the heavy-duty steering wheel system comprises a servo driver 1, a driving motor 2, a steering motor 6, a driving planetary reducer 3, a steering planetary reducer 7, a slewing bearing 9, a steering pinion 8, a brake 4, a limit switch 10 and a polyurethane wheel 5, wherein the servo driver 1 is respectively connected with the driving motor 2, the steering motor 6, a driving encoder, a steering encoder and the limit switch 10.
The driving encoder and the brake 4 are arranged on the driving motor 2, and the driving motor 2 is connected with the driving planetary reducer 3 through keys; the driving planetary reducer 3 is connected with the polyurethane wheel 5 and is fixedly installed through a threaded connecting piece; two side surfaces of the speed reducer 3 are protected by side plates, and the top of the speed reducer is provided with a top block which is connected with the mounting plate; the shaft end of the driving motor 2 is connected with a brake 4.
The steering encoder is arranged on a steering motor 6, an output shaft of the steering motor 6 is connected with a steering planetary reducer 7, the reducer 7 is connected to an installation plate through a changeover plate of the steering motor 6, an output shaft of the reducer is provided with a steering pinion 8 through a baffle, the steering pinion 8 and a slewing bearing 9 form a primary gear reducer and are arranged at the top of the steering wheel body, and the slewing bearing 9 is connected to the installation plate.
The pair of limit switches 10 are arranged on the mounting plate and located on two sides of the steering pinion, the slewing bearing 9 is provided with limit blocks, and mechanical limit of the steering mechanism of the steering wheel is achieved through the limit blocks and the limit switches 10. The steering encoder is used to record the number of turns of the steering mechanism. The output shaft of the driving motor 2 is parallel to the mounting plate, and the output shaft of the steering motor 6 is vertical to the mounting plate and the output shaft of the driving motor 2.
Furthermore, the driving precision planetary reducer 3 and the polyurethane wheel 5 are connected by a pin.
Furthermore, a multi-turn power supply battery is arranged on the steering encoder cable and is fixed on the cable by a battery box.
The present invention will be described in detail with reference to the following examples and drawings.
Examples
A heavy-duty steering wheel system comprises a servo driver, a set of steering wheel body and a set of servo cables. The steering wheel body mainly comprises a driving unit and a steering unit, the driving unit comprises a driving motor, a driving precision planetary reducer, a brake and a polyurethane wheel, and the steering unit comprises a steering motor, a primary gear reducing mechanism, a steering precision planetary reducer, a limit switch and auxiliary parts. The driver is in a one-driving-two mode and integrates driving and steering functions.
For the driving mechanism, a driving encoder is installed at the tail part of a driving motor, the driving motor is connected with a driving precision planetary reducer, the shaft end of the driving precision planetary reducer is connected with a brake, and a polyurethane wheel is installed outside the driving precision planetary reducer. For the steering mechanism, the mounting plate is connected with the ejector block and is provided with two limit switches and two saddle-shaped ribbon fixing seats; in the primary gear speed reducing mechanism, a slewing bearing is connected with a mounting plate, a steering motor is connected with a precision planetary speed reducer for steering, and an output shaft is connected with a steering pinion meshed with the slewing bearing.
Referring to fig. 1, 2 and 3, the heavy-duty steering wheel system includes a servo driver 1, a driving motor 2, a steering motor 6, a driving precision planetary reducer 3, a steering precision planetary reducer 7, a slewing bearing 9, a steering pinion 8, a brake 4, a limit switch 10 and a polyurethane wheel 5. The servo driver 1 is respectively connected with a power line of a driving motor 2, a driving encoder, a power line of a steering motor 6, a steering encoder and a limit switch 10.
The driving encoder and the brake 4 are arranged on the driving motor 2, and the driving motor 2 is connected with the precision planetary reducer 3 for driving through keys; the driving precision planetary reducer 3 is connected with the polyurethane wheel 5 by a pin and is fixedly installed through a threaded connecting piece; two side surfaces of the speed reducer are protected by side plates, and the top of the speed reducer is provided with a top block which is connected with the mounting plate; the shaft end of the driving motor 2 is connected with a brake 4.
The steering encoder is arranged on a steering motor 6, an output shaft of the steering motor 6 is connected with a precision planetary reducer 7 for steering, the reducer 7 is connected to an installation plate through a changeover plate of the steering motor 6, a steering pinion 8 is arranged on the output shaft of the reducer through a baffle plate, and the steering pinion 8 and a slewing bearing 9 form a primary gear reducer arranged at the top of the steering wheel body.
The pair of limit switches 10 are arranged on the mounting plate and located on two sides of the steering pinion, the slewing bearing 9 is provided with limit blocks, and mechanical limit of the steering mechanism of the steering wheel is achieved through the limit blocks and the limit switches 10. The steering encoder cable is provided with a multi-turn power supply battery, and the battery box is fixed on the cable and used for recording a multi-turn value of the steering mechanism. The output shaft of the driving motor 2 is parallel to the mounting plate, and the output shaft of the steering motor 6 is vertical to the mounting plate and the output shaft of the driving motor 2.
The servo driver 1 is in a one-driving-two control mode, one driver 1 simultaneously realizes the control of a driving system and a steering system, and the integration and miniaturization of the driving system are realized. The PCB of the servo driver 1 is subjected to three-proofing treatment, so that the insulation, moisture resistance, dust resistance, aging resistance and the like of the driver 1 are guaranteed.
The servo drive 1 of the invention comprises control of the drive function and the steering function. The control of the driving function means: when the servo driver 1 receives a driving speed instruction sent by a superior controller, the driving motor 2 runs, the polyurethane wheel 5 is driven to rotate by the driving precision planetary reducer 3, meanwhile, the encoder is driven to feed back the position of the magnetic pole of the motor in real time, and PID operation is carried out after comparison with the instruction, so that two-ring closed-loop control is realized. When an emergency situation is met or a parking is needed, the brake 4 is used for realizing the power-off braking of the steering wheel system.
When the driver 1 receives a steering position instruction sent by a superior controller, the steering motor 6 runs and drives the steering wheel to steer through the primary gear reducer, the steering encoder feeds back the magnetic pole position of the motor in real time, and PID operation is carried out after the comparison with the instruction, so that full three-ring closed-loop control is realized. When the steering position is too large, the limit switch 10 is used for protection, and the zero returning operation of the driving function and the steering function can be performed at the same time, so that the safety of the steering wheel system is ensured.
The above description is only exemplary of the present invention, and any modifications, equivalents, improvements and the like made within the technical spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. A heavy-load steering wheel system is characterized by comprising a servo driver (1), a driving motor (2), a steering motor (6), a driving planetary reducer (3), a steering planetary reducer (7), a slewing bearing (9), a steering pinion (8), a brake (4), a driving encoder, a steering encoder, a limit switch (10) and a polyurethane wheel (5), wherein the servo driver (1) is respectively connected with the driving motor (2), the steering motor (6), the driving encoder, the steering encoder and the limit switch (10);
the drive encoder and the brake (4) are arranged on the drive motor (2), and the drive motor (2) is connected with the drive planetary reducer (3) through a key; the driving planetary reducer (3) is connected with the polyurethane wheel (5) and is fixedly installed through a threaded connecting piece; the shaft end of the driving motor (2) is connected with a brake (4);
the steering encoder is arranged on a steering motor (6), an output shaft of the steering motor (6) is connected with a steering planetary reducer (7), the steering planetary reducer (7) is connected to the mounting plate through a steering motor (6) adapter plate, a steering pinion (8) is arranged on the output shaft of the steering planetary reducer through a baffle plate, the steering pinion (8) and a slewing bearing (9) form a primary gear reducer which is arranged at the top of the steering wheel body, and the slewing bearing (9) is connected to the mounting plate;
the pair of limit switches (10) are arranged on the mounting plate and positioned on two sides of the steering pinion (8), the slewing bearing (9) is provided with limit blocks, and the mechanical limit of the steering mechanism of the steering wheel is realized through the limit blocks and the limit switches (10); the steering encoder cable is used for recording a multi-turn value of the steering mechanism; the output shaft of the driving motor (2) is parallel to the mounting plate, and the output shaft of the steering motor (6) is vertical to the mounting plate and the output shaft of the driving motor (2) at the same time.
2. The heavy-duty steering wheel system according to claim 1, wherein both side surfaces of said driving planetary reducer (3) are protected by side plates, and a top block is provided at the top thereof and connected to the mounting plate.
3. The heavy duty steering wheel system according to claim 1 or 2, wherein the driving planetary reducer (3) is connected to the polyurethane wheel (5) by a pin.
4. The heavy duty steering wheel system of claim 1, wherein the steering encoder cable has a plurality of turns of a battery and is secured to the cable by a battery pack.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911387072.5A CN111645508A (en) | 2019-12-30 | 2019-12-30 | Heavy-load steering wheel system |
| PCT/CN2020/140728 WO2021136248A1 (en) | 2019-12-30 | 2020-12-29 | Heavy-loaded steering wheel system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911387072.5A CN111645508A (en) | 2019-12-30 | 2019-12-30 | Heavy-load steering wheel system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111645508A true CN111645508A (en) | 2020-09-11 |
Family
ID=72342562
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911387072.5A Pending CN111645508A (en) | 2019-12-30 | 2019-12-30 | Heavy-load steering wheel system |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN111645508A (en) |
| WO (1) | WO2021136248A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102004005869A1 (en) * | 2004-02-05 | 2005-09-15 | Abm Greiffenberger Antriebstechnik Gmbh | Compact drive unit for single-wheel drive forklifts combines the motor flange of a drive motor with part of the housing of the steering booster as a one-piece unit |
| 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 |
| CN206537343U (en) * | 2017-03-20 | 2017-10-03 | 浙江华叉搬运设备有限公司 | A kind of automobile-used steer-drives of new A GV |
| CN207345918U (en) * | 2017-11-01 | 2018-05-11 | 山东大学 | One kind drives steering integrated steering wheel module |
| KR20190038699A (en) * | 2017-09-29 | 2019-04-09 | (주)엠텍 | Driving and steering integrated device for agv and manned transporters |
| CN109624678A (en) * | 2018-12-30 | 2019-04-16 | 江苏金陵智造研究院有限公司 | A kind of low-mounting height heavy duty steering wheel system |
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| CN209008661U (en) * | 2018-09-07 | 2019-06-21 | 上海同毅自动化技术有限公司 | Full SERVO CONTROL driving mechanism is walked and turned to steering wheel |
| KR20190099757A (en) * | 2018-02-20 | 2019-08-28 | 강성환 | Automatic Guide Vehicle Steering Device |
| CN110346135A (en) * | 2019-08-12 | 2019-10-18 | 福建省特种设备检验研究院 | A kind of ultrahigh precision gear-box test macro |
| CN212022308U (en) * | 2019-12-30 | 2020-11-27 | 江苏金陵智造研究院有限公司 | Heavy-load steering wheel device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20190193784A1 (en) * | 2017-12-21 | 2019-06-27 | Disney Enterprises, Inc. | Non-scrubbing vertical drive unit for a trackless or free roaming vehicle with zero turn radius |
| CN109050244B (en) * | 2018-09-04 | 2021-07-16 | 浙江同筑科技有限公司 | High-precision AGV driving and steering integrated device and control method thereof |
| 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 |
-
2019
- 2019-12-30 CN CN201911387072.5A patent/CN111645508A/en active Pending
-
2020
- 2020-12-29 WO PCT/CN2020/140728 patent/WO2021136248A1/en active Application Filing
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102004005869A1 (en) * | 2004-02-05 | 2005-09-15 | Abm Greiffenberger Antriebstechnik Gmbh | Compact drive unit for single-wheel drive forklifts combines the motor flange of a drive motor with part of the housing of the steering booster as a one-piece unit |
| 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 |
| CN206537343U (en) * | 2017-03-20 | 2017-10-03 | 浙江华叉搬运设备有限公司 | A kind of automobile-used steer-drives of new A GV |
| KR20190038699A (en) * | 2017-09-29 | 2019-04-09 | (주)엠텍 | Driving and steering integrated device for agv and manned transporters |
| CN207345918U (en) * | 2017-11-01 | 2018-05-11 | 山东大学 | One kind drives steering integrated steering wheel module |
| KR20190099757A (en) * | 2018-02-20 | 2019-08-28 | 강성환 | Automatic Guide Vehicle Steering Device |
| CN208789815U (en) * | 2018-03-28 | 2019-04-26 | 浙江亿控自动化设备有限公司 | Motor driven wheel assembly for automated guided vehicle |
| CN209008661U (en) * | 2018-09-07 | 2019-06-21 | 上海同毅自动化技术有限公司 | Full SERVO CONTROL driving mechanism is walked and turned to steering wheel |
| CN109624678A (en) * | 2018-12-30 | 2019-04-16 | 江苏金陵智造研究院有限公司 | A kind of low-mounting height heavy duty steering wheel system |
| CN110346135A (en) * | 2019-08-12 | 2019-10-18 | 福建省特种设备检验研究院 | A kind of ultrahigh precision gear-box test macro |
| CN212022308U (en) * | 2019-12-30 | 2020-11-27 | 江苏金陵智造研究院有限公司 | Heavy-load steering wheel device |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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| Publication number | Publication date |
|---|---|
| WO2021136248A1 (en) | 2021-07-08 |
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