CN111845919A - Steering wheel and control method thereof - Google Patents
Steering wheel and control method thereof Download PDFInfo
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- CN111845919A CN111845919A CN202010634987.8A CN202010634987A CN111845919A CN 111845919 A CN111845919 A CN 111845919A CN 202010634987 A CN202010634987 A CN 202010634987A CN 111845919 A CN111845919 A CN 111845919A
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- gear
- driven gear
- steering
- driving
- assembly
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- 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
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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
- 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
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- 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
- B62D5/046—Controlling the motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
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- 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 application discloses a steering wheel and a control method thereof. Wherein, turn to drive assembly and include annular toothed disc and set up the annular boss on it, bearing assembly includes flat bed board and mounting panel, and flat bed board is fixed to be set up on the boss, and the mounting panel is fixed to be set up on flat bed board to make drive assembly can drive the carrier motion of helm through bearing assembly. The steering drive assembly further includes a drive gear, a first driven gear, and a first sensor. The driving gear and the first driven gear are respectively meshed with the gear disc, and the first sensor is used for detecting the rotating tooth information of the first driven gear so as to acquire the rotating angle of the gear disc and compare the rotating angle with a preset rotating angle, so that the rotating angle of the steering driving assembly is adjusted through a comparison result. Therefore, the steering angle can be adjusted by the steering wheel, and the steering angle is consistent when a plurality of steering wheels steer simultaneously.
Description
Technical Field
The application relates to the technical field of automatic guided vehicles, in particular to a steering wheel and a control method thereof.
Background
An Automatic Guided Vehicle (AGV) is a Vehicle equipped with an automatic guide device and capable of traveling along a predetermined guide path, and the AGV does not need a driver to travel during operation and can automatically travel after being loaded with goods, thereby playing a key role in an unmanned process of automatic production. The existing automatic guided transport vehicle is mostly driven by a steering wheel, the steering wheel travels and turns under the drive of different driving components, and the steering at a preset angle can be performed while the vehicle travels. In the process that the automatic guided transporting vehicle bears the goods and walks along the preset path, a plurality of steering wheels are often required to be assembled, the weight of the goods is possibly unevenly distributed on the automatic guided transporting vehicle, and the situation that the steering angles are not matched can occur in the steering of the steering wheels at the moment, so that the automatic guided transporting vehicle deviates from the preset path and even is unexpected.
Disclosure of Invention
The technical problem mainly solved by the application is to provide a steering wheel and a control method thereof, which can adjust the steering angle and ensure that the steering angles of a plurality of steering wheels are consistent when the steering wheels steer simultaneously.
In order to solve the technical problem, the application adopts a technical scheme that:
Provided is a steering wheel including: the device comprises a driving assembly and a bearing assembly;
the driving assembly comprises a steering driving assembly, and the steering driving assembly comprises an annular gear disc and an annular boss arranged on the gear disc; the bearing assembly comprises a flat plate and a support plate, the middle of the flat plate is provided with a hole, the flat plate is fixed on one side of the annular boss, which is far away from the gear disc, and the support plate is fixed on one side of the flat plate, which is far away from the driving assembly, so that the driving assembly can drive the carrier of the steering wheel to move through the bearing assembly; the holes of the flat plate and the support plate are exposed out of an area defined by the annular inner wall of the gear disc;
the steering driving assembly further comprises a driving gear, a first driven gear and a first sensor; the driving gear and the first driven gear are arranged on the outer side of the gear disc and are respectively meshed with the gear disc; the first sensor is arranged on one side, far away from the bearing assembly, of the first driven gear and used for detecting and feeding back the tooth rotating information of the first driven gear, and therefore the rotating angle of the steering driving assembly is adjusted through the tooth rotating information of the first driven gear.
In order to solve the above technical problem, another technical solution adopted by the present application is:
a method of controlling a steering wheel is provided, the steering wheel comprising a drive assembly and a carrier assembly; the driving assembly comprises a steering driving assembly, and the steering driving assembly comprises an annular gear disc and an annular boss arranged on the gear disc; the bearing assembly comprises a flat plate and a support plate, wherein the middle of the flat plate is provided with a hole, the flat plate is fixed on one side of the annular boss, which is far away from the gear disc, the support plate is fixed on one side of the flat plate, which is far away from the driving assembly, and the area enclosed by the annular inner wall of the gear disc is exposed through the holes of the flat plate and the support plate; the steering driving assembly further comprises a driving gear, a first driven gear and a first sensor, wherein the driving gear and the first driven gear are arranged on the outer side of the gear disc and are respectively meshed with the gear disc; the first sensor is arranged on one side, far away from the bearing assembly, of the first driven gear; the steering driving assembly is fixedly connected with the bearing assembly, so that the driving assembly can drive the carrier of the steering wheel to move through the bearing assembly;
The control method comprises the following steps:
the driving gear is driven to rotate so as to drive the moving gear disc to rotate, and the first driven gear is driven to rotate through the gear disc;
acquiring the gear rotating information of the first driven gear by using the first sensor;
and the rotating angle of the steering driving component is adjusted through the tooth rotating information of the first driven gear.
The beneficial effect of this application is: in contrast to the state of the art, the present application provides a steering wheel comprising a drive assembly and a carrier assembly, the drive assembly comprising a steering drive assembly. Wherein, turn to drive assembly and include annular toothed disc and set up the annular boss on it, bearing assembly includes flat bed board and mounting panel, and flat bed board is fixed to be set up on the boss, and the mounting panel is fixed to be set up on the flat bed board to make drive assembly can pass through the carrier (for example automated guided transport vechicle) motion that bearing assembly drove the helm. The steering drive assembly further includes a drive gear, a first driven gear, and a first sensor. The driving gear and the first driven gear are respectively meshed with the gear disc, the driving gear drives the gear disc to rotate, the gear disc drives the first driven gear to rotate, and then the first sensor can be utilized to detect and feed back the rotating tooth information of the first driven gear, so that the rotating tooth information of the gear disc is obtained, the further comparison with the preset steering angle is carried out, and the rotating angle of the steering driving assembly is adjusted through a comparison result. Therefore, the steering angle can be adjusted by the steering wheel, and the steering angle is consistent when a plurality of steering wheels steer simultaneously.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts. Wherein:
FIG. 1a is a schematic structural view of an embodiment of an automated guided vehicle with two steerable wheels;
FIG. 1b is a schematic structural view of an embodiment of an automated guided vehicle with three steerable wheels;
FIG. 2 is a schematic structural diagram of an embodiment of the steering wheel of the present application;
FIG. 3 is an exploded view of an embodiment of the steering wheel of FIG. 2;
FIG. 4 is an enlarged view of the area indicated by the dashed box A in FIG. 3;
FIG. 5 is an enlarged view of the area indicated by the dashed box B in FIG. 3;
FIG. 6 is a schematic flow chart illustrating an embodiment of a method for controlling a steering wheel according to the present application;
FIG. 7 is a flowchart illustrating an embodiment of step S103 in FIG. 6;
fig. 8 is a schematic flowchart of another embodiment of step S103 in fig. 6.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments that can be obtained by a person skilled in the art without making any inventive step based on the embodiments in the present application belong to the protection scope of the present application.
Referring to fig. 1a and 1b, fig. 1a is a schematic structural diagram of an embodiment of an automated guided vehicle with two steering wheels, and fig. 1b is a schematic structural diagram of an embodiment of an automated guided vehicle with three steering wheels. During the process of the automated guided vehicle carrying the cargo to travel along the predetermined path, it is often necessary to assemble a plurality of steering wheels (for example, two steering wheels 100 shown in fig. 1a are assembled on the automated guided vehicle 500, and three steering wheels 100 shown in fig. 1b are assembled on the automated guided vehicle 500), the weight of the cargo may be unevenly distributed on the automated guided vehicle, and at this time, the steering angle of the plurality of steering wheels may be mismatched, which may cause the automated guided vehicle to deviate from the predetermined route or even cause an accident. In order to ensure that the steering angles of the plurality of steering wheels are consistent, the following method is adopted, and specifically refer to fig. 2 to 5, fig. 2 is a schematic structural diagram of an embodiment of the steering wheel of the present application, fig. 3 is a schematic exploded structural diagram of the embodiment of the steering wheel in fig. 2, fig. 4 is an enlarged view of a region shown by a broken line frame a in fig. 3, and fig. 5 is an enlarged view of a region shown by a broken line frame B in fig. 3. The steering wheel comprises a drive assembly 1 and a carrier assembly 2.
Specifically, the drive assembly 1 includes a steering drive assembly 11 and a walking drive assembly 12 fixedly connected together. The walking driving assembly 12 includes a walking driving wheel 121 and a walking driving motor 122, the walking driving motor 122 drives the walking driving wheel 121 to move forward or backward in a predetermined walking direction, and the steering driving assembly 11 can indirectly drive the walking driving wheel 121 to steer according to a predetermined angle, so that the steering wheel can steer while walking, and can move according to a predetermined path.
As shown in fig. 1a and 1b, when the automated guided vehicle is carried by a plurality of steering wheels together, the travel driving motors 122 of the plurality of steering wheels drive the travel driving wheels 121 to move forward or backward in a predetermined travel direction at the same time, and the steering driving units 11 of the plurality of steering wheels indirectly drive the travel driving wheels 121 to steer at a predetermined angle at the same time, so that the automated guided vehicle is steered while traveling. At this time, it is necessary to ensure that the traveling drive wheels 121 of the plurality of steering wheels are steered at the same predetermined angle so that the automated guided vehicle can move along a predetermined path.
Specifically, the steering driving assembly 11 includes an annular gear plate 111 and an annular boss 115 disposed on the gear plate 111, and preferably, an annular inner wall of the boss 115 and an annular inner wall of the gear plate 111 are on the same curved surface, so that an area surrounded by the annular inner wall of the gear plate 111 can be exposed as much as possible, and at the same time, an annular outer wall of the boss 115 does not exceed a position where the annular outer wall of the gear plate 111 is located, so as to avoid affecting engagement between the gear plate 111 and other gears. In other embodiments, the annular inner wall of the boss 115 may also be disposed at a position between the annular inner wall and the outer wall of the gear plate 111, which also exposes the area surrounded by the annular inner wall of the gear plate 111. The bearing component 2 comprises a flat plate 21 and a support plate 22, wherein the middle of the flat plate 21 is provided with a hole, the hole in the middle of the flat plate 21 is a first through hole 211, the hole in the middle of the support plate is a second through hole 221, and preferably, the positions of the first through hole 211 and the second through hole 221 are overlapped and are overlapped with the position of the annular inner wall of the gear disc 111, so that the area defined by the annular inner wall of the gear disc 111 is exposed through the first through hole 211 and the second through hole 221.
The flat plate 21 is fixed on the side of the annular boss 115 facing away from the gear disc 111, and the support plate 22 is fixed on the side of the flat plate 21 facing away from the driving assembly 1, so as to fixedly connect the steering driving assembly 11 with the bearing assembly 2, so that the driving assembly 1 can drive a carrier (such as an automatic guided vehicle) of a steering wheel to move through the bearing assembly 2.
In addition, this application steering wheel still includes a plurality of frame coupling assembling 4, sets up in the bight of flat board 21 for with the frame fixed connection of automated guided transporting vehicle, in order to drive its motion.
Specifically, the boss 115 and the flat plate 21 are fixedly connected by a first connecting piece 222, the flat plate 21 and the bracket plate 22 are fixedly connected by a second connecting piece 223, and preferably, the first connecting piece 222 and the second connecting piece 223 are bolts and nuts used in cooperation. The boss 115 is provided with at least one first fixing hole 1151, the outer side of the first through hole 211 of the planar plate 21 is provided with at least one first connection hole 212, the first fixing hole 1151 and the first connection hole 212 correspond to each other one by one, and the first connector 222 is inserted into the first fixing hole 1151 and the first connection hole 212, so as to fixedly connect the boss 115 and the planar plate 21. Further, a first receiving hole 225 corresponding to the first connecting hole 212 is provided on the bracket plate 22 outside the second through hole 221 for receiving one end of the first connecting member 222. The area of the support plate 22 is smaller than that of the flat plate 21, at least one first extending portion 224 is arranged on the outer side of the support plate 22 far away from the second through hole 221, at least one second fixing hole 226 is arranged on the first extending portion 224, at least one second connecting hole 213 is arranged on the outer side of the first connecting hole 212 far away from the first through hole 211 on the flat plate 21, the second fixing holes 226 are in one-to-one correspondence with the second connecting holes 213, and the second connecting piece 223 penetrates through the second connecting holes 213 and the second fixing holes 226, so that the flat plate 21 and the support plate 22 are fixedly connected. Thereby fixedly connecting the boss 115, the flat plate 21 and the support plate 22 through the first connector 222 and the second connector 223, and further fixedly connecting the steering driving assembly 11 with the bearing assembly 2, so that the driving assembly 1 can drive a carrier (such as an automated guided vehicle) of the steering wheel to move through the bearing assembly 2.
Further, the steering driving assembly 11 further includes a steering driving motor 119, a driving gear 112, a first driven gear 113, and a first sensor 114. The steering driving motor 119 is disposed on a side of the driving gear 112 away from the flat plate 21, and a driving shaft of the steering driving motor 119 is fixedly connected to the driving gear 112 for driving the driving gear 112 to rotate. The drive gear 112 and the first driven gear 113 are provided outside the gear plate 111, and engage with the gear plate 111, respectively. The first sensor 114 is disposed on a side of the first driven gear 113 away from the bearing assembly 2, and is configured to detect and feed back tooth rotating information of the first driven gear 113, so as to adjust a rotation angle of the steering driving assembly 11 through the tooth rotating information of the first driven gear 113.
Specifically, the steering driving assembly 11 further includes a gear bracket 1110 fixed to the steering driving motor 119 and extending from the driving gear 112 toward the first driven gear 113 along the circumferential direction of the gear plate 111 for carrying the first driven gear 113. The first driven gear 113 is disposed on a side surface of the gear bracket 1110 facing the flat plate 21, and the first sensor 114 is disposed on a side surface of the gear bracket 1110 away from the flat plate 21 corresponding to the first driven gear 113.
When turning to driving motor 119 and driving gear 112 and rotating, driving gear 112 drives the toothed disc 111 rotation rather than the interlock, and then drive the first driven gear 113 rotation rather than the interlock of toothed disc 111, first sensor 114 sets up to the rotating tooth information that can detect and feed back first driven gear 113 to the host computer, specifically include the interlock situation of first driven gear 113 and toothed disc 111 and first driven gear 113's turned angle, because mutual interlock relation, thereby learn the turned angle of toothed disc 111. On the premise that the meshing condition of the first driven gear 113 and the gear disc 111 does not fail, the upper computer can compare the rotation angle of the gear disc 111 with a preset rotation angle. If the difference is within the preset range, the gear plate 111 is considered to be rotated by a preset rotation angle, and no adjustment is required. If the difference is not within the preset range, the steering driving motor 119 and the driving gear 112 need to be adjusted, for example, a warning is issued, so that the user knows that the steering angle of the steering wheel is deviated, and then the adjustment is made, so that the driving gear 112 rotates according to the preset rotation angle given by the upper computer, and the difference between the rotation angle of the first driven gear 113 fed back by the first sensor 114 and the preset rotation angle is within the preset range. When the automated guided transporting vehicle is born by a plurality of steering wheels, the upper computer can further compare the rotation angle fed back by the plurality of steering wheels, and then adjust the plurality of steering wheels, so that the rotation angles of the plurality of steering wheels are consistent, and the difference with the preset rotation angle is in the preset range.
Further, the steering drive assembly 11 further includes a second driven gear 116 and a second sensor 117; the second driven gear 116 is arranged on one side surface of the gear bracket 1110 facing the flat plate 21, is meshed with the gear disc 111, and has a gap with the first driven gear 113; the second sensor 117 is disposed on a side surface of the gear bracket 1110 away from the flat plate 21 corresponding to the second driven gear 116, and is used for detecting and feeding back the rotation information of the second driven gear 116, so as to adjust the rotation angle of the steering driving assembly 11 through the rotation information of the second driven gear 116.
When turning to driving motor 119 and driving gear 112 and rotating, driving gear 112 drives the toothed disc 111 rotation rather than the interlock, and then drive the second driven gear 116 rotation rather than the interlock of toothed disc 111, second sensor 117 sets up to the commentaries on classics tooth information that can detect and feed back second driven gear 116 to the host computer, specifically include second driven gear 116 and toothed disc 111's interlock situation and second driven gear 116's turned angle, because mutual interlock relation, thereby learn the turned angle of toothed disc 111. If the first driven gear 113 and the gear plate 111 are in meshing failure, for example, sliding teeth occur, the upper computer may acquire the rotation angle of the gear plate 111 by using the second sensor 117 on the premise that the meshing condition of the second driven gear 116 and the gear plate 111 is not in failure, and compare the rotation angle of the gear plate 111 with a preset rotation angle, so as to adjust the rotation angle of the steering driving assembly 11 according to the comparison result. For a specific adjustment process, reference may be made to the above-mentioned process of adjusting according to the tooth rotating information of the first driven gear 113, and details are not described here. The second driven gear 116 and the second sensor 117 function together, which corresponds to a backup of the first driven gear 113 and the first sensor 114, and function when the first driven gear 113 fails, thereby further ensuring that the steering angles of the plurality of steering wheels are matched.
Further, the steering driving assembly 11 further includes at least one micro switch 118 disposed on a side surface of the boss 115 facing the flat plate 21, for detecting and feeding back the rotation information of the gear plate 111, so as to adjust the rotation angle of the steering driving assembly 11 through the rotation information of the gear plate 111. If the first driven gear 113 and the second driven gear 116 are both meshed with the gear plate 111, the microswitch 118 can directly detect the gear rotating information of the gear plate 111 and feed back the gear rotating information to the upper computer, so that the upper computer can adjust the rotating angle of the steering driving assembly 11 accordingly, and the specific adjusting process can refer to the process of adjusting the gear rotating information according to the first driven gear 113, which is not described herein again. The microswitch 118 is equivalent to a backup for the first driven gear 113 and the first sensor 114 and the second driven gear 116 and the second sensor 117, and functions when both the first driven gear 113 and the second driven gear 116 fail, and can further ensure that the steering angles of the plurality of steering wheels are uniform.
In addition, in order to protect the microswitch 118, when the first connecting piece 222 fixedly connects the flat plate 21 and the boss 115, a nut can be added on each of the opposite surfaces of the flat plate 21 and the boss 115, and the distance between the two opposite nuts is greater than or equal to the height of the microswitch 118, so that the flat plate 21 and the boss 115 can be fixedly connected, and the structure of the microswitch 118 can be protected.
Further, please continue to refer to fig. 2-5, the steering wheel of the present application further includes a wire routing assembly 3, wherein the wire routing assembly 3 includes a plurality of wire holes for respectively passing through the electrical connection wires belonging to different power ranges of the steering wheel. The normal work of rudder wheel needs many electrical connection lines, for example the electrical connection line of each driving motor and inside electrical apparatus etc. and the power of these electrical connection line loads is diverse, and strong interference may appear when the electrical connection line of great power and the electrical connection line of less power overlap joint, and then influences the normal work of rudder wheel. This application is preferred to divide into two types that belong to two power ranges with many electric connection lines, sets up a plurality of line holes in the walking line subassembly 3 of steering wheel, makes the electric connection line of high-power scope and miniwatt scope wear to locate different line holes respectively, mutual noninterference to make the steering wheel can bear the weight of the motion of automated guided transporting vehicle along predetermineeing the route more accurately.
Specifically, the routing assembly 3 further includes a wire platform 31 and a wire frame 32, and the wire holes include a first wire hole 311 and a second wire hole 3211. The wire platform 31 is annular and is fixedly disposed on the annular inner wall of the gear plate 111, for example, welded or bolted. The string platform 31 is provided with at least two first string holes 311, which may be uniformly or non-uniformly distributed on the annular area of the string platform 31. The wire frame 32 is bridged on the wire platform 31, and the wire frame 32 comprises an inverted U-shaped structure, wherein two ends of the U shape are bridged on the annular inner wall or the area between the inner wall and the outer wall of the wire platform 31. The top of the inverted U-shaped structure of the wire frame 32 includes a second extending portion 321 extending toward the support plate 22, and at least two second wire holes 3211 are disposed on the top of the inverted U-shaped structure. The electric connection lines belonging to the high-power range and the small-power range respectively penetrate through the different first line holes 311, and then penetrate through the different second line holes 3211, so that the electric connection lines belonging to the different power ranges of the steering wheel are always separated and routed without mutual interference, and the probability of walking deviation of the steering wheel is reduced.
Further, the wire routing assembly 3 further includes a wire slot 33, the wire slot 33 is a hollow structure and is used for accommodating an electrical connection wire, and the wire slot 33 is fixedly connected to a surface of one side of the support plate 22, which is far away from the flat plate 21. The slot 33 is preferably a spiral hollow structure to increase the length of the electrical connection wires that can be accommodated, and the hollow interior thereof can be divided into at least two channels for the electrical connection wires belonging to different power ranges to be separately routed without mutual interference. One end of the wire groove 33 is located at the hole (the second through hole 221) in the middle of the support plate 22, and since the second through hole 221 exposes the area surrounded by the annular inner wall of the gear plate 111, the wire frame 32 is further disposed in the area, so that the end of the wire groove 33 located at the second through hole 221 can be fixedly connected with the wire frame 32 through the third connecting member 331. Specifically, at least one third fixing hole 332 is disposed at one end of the wire casing 33 located at the second through hole 221, at least one third connecting hole 3212 is disposed on the second extending portion 321, the third fixing holes 332 correspond to the third connecting holes 3212 one to one, and the third connecting member 331 is preferably a matched bolt and nut, and is disposed through the third fixing hole 332 and the third connecting hole 3212 to fixedly connect the wire casing 33 and the wire frame 32.
The steering wheel that this embodiment provided can adjust the steering angle to the steering angle when guaranteeing a plurality of steering wheels to turn to simultaneously is unanimous, can realize dividing the electric connection line that belongs to different power ranges moreover and separately walking the line all the time, mutual noninterference, and then makes the steering wheel can bear the weight of the motion of automated guided transporting vehicle along predetermineeing the route more accurately.
Referring to fig. 6 in conjunction with fig. 2-5, fig. 6 is a schematic flow chart of an embodiment of the control method for a steering wheel of the present application. The steering wheel comprises a driving component 1 and a bearing component 2; the drive assembly 1 comprises a steering drive assembly 11, the steering drive assembly 11 comprising an annular gear disc 111, an annular boss 115 provided on the gear disc 111. The bearing component 2 comprises a flat plate 21 and a support plate 22, wherein the middle of the flat plate 21 is provided with a hole, the flat plate 21 is fixed on one side of the annular boss 115 departing from the gear disc 111, and the support plate 22 is fixed on one side of the flat plate 21 departing from the driving component 1, so that the driving component 1 can drive a carrier of the steering wheel to move through the bearing component 2. The holes of the flat plate 21 and the bracket plate 22 expose the area surrounded by the annular inner wall of the gear disc 111. The steering driving assembly 11 further includes a driving gear 112, a first driven gear 113 and a first sensor 114, the driving gear 112 and the first driven gear 113 are disposed on the outer side of the gear plate 111 and engaged with the gear plate 111, respectively, and the first sensor 114 is disposed on a side of the first driven gear 113 away from the bearing assembly 2.
Specifically, the control method of the steering wheel in the present embodiment includes the steps of:
s101, the driving gear is driven to rotate to drive the gear disc to rotate, and the first driven gear is driven to rotate through the gear disc.
Specifically, after the steering wheel receives an instruction of rotating a predetermined angle from the upper computer, the steering driving motor 119 is used to drive the driving gear 112 to rotate, so as to drive the gear plate 111 engaged with the driving gear 112 to rotate, and further drive the first driven gear 113 engaged with the gear plate 111 to rotate, and theoretically, the rotation angles of the three are the predetermined angle.
And S102, acquiring the rotating tooth information of the first driven gear by using the first sensor.
Specifically, the first sensor 114 is configured to be capable of detecting and feeding back the tooth rotating information of the first driven gear 113 to the upper computer, and after the first driven gear 113 rotates by a predetermined angle, the steering wheel collects the tooth rotating information of the first driven gear 113 by using the first sensor 114 and feeds back the tooth rotating information to the upper computer. The tooth rotation information specifically includes meshing information of the first driven gear 113 and the gear plate 111, and a rotation angle of the first driven gear 113.
And S103, adjusting the rotation angle of the steering driving assembly through the rotating tooth information of the first driven gear.
Specifically, the steering wheel feeds back the gear rotating information of the first driven gear 113 to the upper computer, so that the upper computer can make an analysis according to the gear rotating information, and then issue an instruction for adjustment or non-adjustment to the steering wheel according to different analysis results.
Further, referring to fig. 7 in conjunction with fig. 2-5, fig. 7 is a schematic flow chart of an embodiment of step S103 in fig. 6, where step S103 (adjusting the rotation angle of the steering driving assembly according to the rotation information of the first driven gear) specifically includes the following steps:
s201, judging whether the first driven gear and the gear disc are in meshing fault or not based on meshing information of the first driven gear and the gear disc.
Specifically, when the steering wheel drives the driving gear 112 to rotate by using the steering driving motor 119, the driving gear 112 drives the gear plate 111 engaged therewith to rotate, and further drives the first driven gear 113 engaged with the gear plate 111 to rotate, if the engagement information of the first driven gear 113 and the gear plate 111 collected by the first sensor 114 reflects the engagement fault of the first driven gear 113 and the gear plate 111, such as loose engagement or tooth slipping, the rotation angle of the first driven gear 113 collected by the first sensor 114 is no longer reliable, and at this time, the rotation angle of the steering driving assembly 11 cannot be adjusted according to the rotation angle. It is necessary to determine whether the first driven gear 113 and the gear plate 111 are in a meshing failure based on the meshing information of the first driven gear 113 and the gear plate 111 before adjustment.
S202, if the first driven gear is not meshed with the gear disc, whether the rotation angle of the steering driving assembly deviates or not is judged based on the rotation angle of the first driven gear.
If the engagement information of the first driven gear 113 and the gear plate 111 indicates that both are not engaged, it is determined whether the rotation angle of the steering drive assembly 11 is offset based on the rotation angle of the first driven gear 113. Specifically, the steering wheel feeds back the rotation angle of the first driven gear 113 to the upper computer, so that the upper computer can compare the rotation angle of the gear plate 111 with a preset rotation angle. If the difference between the rotation angle of the gear plate 111 and the preset rotation angle is within the preset range, the gear plate 111 is considered to be rotated according to the preset rotation angle, and no adjustment is required.
And S203, if the deviation occurs, adjusting the rotation angle of the steering drive component.
If the difference between the rotation angle of the gear wheel 111 and the preset rotation angle is not within the preset range, it is determined that the rotation angle of the steering driving assembly 11 has deviated, and the steering driving motor 119 and the driving gear 112 need to be adjusted, for example, a warning is issued, so that a user can know that the steering angle of the steering wheel has a deviation, and then adjustment is made, after the steering wheel receives the adjustment, the driving gear 112 rotates according to the preset rotation angle given by the upper computer, so that the difference between the rotation angle of the first driven gear 113 fed back by the first sensor 114 and the preset rotation angle is within the preset range, and the step of adjusting the rotation angle of the steering driving assembly 11 through the rotation gear information of the first driven gear 113 is realized.
In addition, when the automated guided vehicle is born by a plurality of steering wheels, a plurality of steering wheels can feed back the corresponding rotating tooth information of the first driven gear 113 to the host computer simultaneously, so that the host computer can further compare the rotating angles fed back by the plurality of steering wheels, and then the rotating angles of a plurality of corresponding steering drive components 11 are adjusted by the rotating tooth information of the plurality of first driven gears 113, so that the rotating angles of the plurality of steering wheels are consistent, and the difference with the preset rotating angle is in a preset range.
Further, please refer to fig. 8 in conjunction with fig. 2-5, fig. 8 is a schematic flowchart of another embodiment of step S103 in fig. 6. The steering driving assembly 11 further includes a second driven gear 116 and a second sensor 117, the second driven gear 116 is disposed on the outer side of the gear plate 111 and engaged with the gear plate 111, and the second sensor 117 is disposed on a side of the second driven gear 116 away from the bearing assembly 2. Step S103 (adjusting the rotation angle of the steering drive assembly by the rotation information of the first driven gear) may further include the steps of:
s301, if the first driven gear is meshed with the gear disc in a fault, acquiring the tooth rotating information of the second driven gear through the second sensor, wherein the tooth rotating information of the second driven gear comprises the meshing information of the second driven gear and the gear disc and the rotating angle of the second driven gear.
Specifically, when the steering driving motor 119 drives the driving gear 112 to rotate, the driving gear 112 drives the gear plate 111 engaged therewith to rotate, and further drives the second driven gear 116 engaged with the gear plate 111 to rotate. If it is determined that the first driven gear 113 and the gear plate 111 are in meshing failure through the step S201, it indicates that the tooth rotating information of the first driven gear 113 collected by the first sensor 114 is not authentic, at this time, the tooth rotating information of the second driven gear 116 can be collected by the second sensor 117, and the second sensor 117 is configured to be able to detect and feed back the tooth rotating information of the second driven gear 116 to the upper computer, where the tooth rotating information of the second driven gear 116 includes meshing information of the second driven gear 116 and the gear plate 111 and a rotation angle of the second driven gear 116.
And S302, judging whether the second driven gear and the gear disc are in meshing fault or not based on the meshing information of the second driven gear and the gear disc.
If the meshing information of the second driven gear 116 and the gear disc 111, which is acquired by the second sensor 117, reflects a meshing fault of the second driven gear 116 and the gear disc 111, such as loose meshing or tooth slipping, the rotation angle of the second driven gear 116, which is acquired by the second sensor 117, is no longer reliable, and the rotation angle of the steering drive assembly 11 cannot be adjusted according to the rotation angle. It is necessary to determine whether the second driven gear 116 and the gear plate 111 are in a meshing failure based on the meshing information of the second driven gear 116 and the gear plate 111 before adjustment.
And S303, if the second driven gear is not meshed with the gear disc, judging whether the rotation angle of the steering driving assembly deviates or not based on the rotation angle of the second driven gear.
If the engagement information of the second driven gear 116 and the gear plate 111 shows the non-engagement failure of both, it is determined whether the rotational angle of the steering drive assembly 11 is offset based on the rotational angle of the second driven gear 116. Specifically, the steering wheel feeds back the rotation angle of the second driven gear 116 to the upper computer, so that the upper computer can compare the rotation angle of the gear plate 111 with a preset rotation angle. If the difference between the rotation angle of the gear plate 111 and the preset rotation angle is within the preset range, the gear plate 111 is considered to be rotated according to the preset rotation angle, and no adjustment is required.
S304, if the deviation occurs, adjusting the rotation angle of the steering driving component.
If the difference between the rotation angle of the gear wheel 111 and the preset rotation angle is not within the preset range, it is determined that the rotation angle of the steering driving assembly 11 is deviated, and the steering driving motor 119 and the driving gear 112 need to be adjusted, for example, a warning is issued, so that the user knows that the deviation of the steering angle of the steering wheel occurs, and then makes an adjustment, and after the steering wheel receives the adjustment, the driving gear 112 rotates according to the preset rotation angle given by the upper computer, so that the difference between the rotation angle of the second driven gear 116 fed back by the second sensor 117 and the preset rotation angle is within the preset range.
In the present embodiment, the second driven gear 116 and the second sensor 117 function together, which corresponds to a backup of the first driven gear 113 and the first sensor 114, and function when the first driven gear 113 fails, and it is possible to further ensure that the steering angles of the plurality of steering wheels are matched.
Further, referring to fig. 8 with continuing reference to fig. 2-5, the steering driving assembly 11 further includes at least one micro switch 118 disposed on a side surface of the boss 115 facing the flat plate 21 for detecting and feeding back the gear rotating information of the gear plate 111. If it is determined in step S302 that the second driven gear 116 and the gear plate 111 are in a meshing failure, it indicates that the tooth rotation information of the first driven gear 113 collected by the first sensor 114 and the tooth rotation information of the second driven gear 116 collected by the second sensor 117 are both not reliable, and the rotation angle of the steering driving assembly cannot be adjusted according to the tooth rotation information, and step S305 may be executed, that is, the rotation angle of the steering driving assembly 11 is adjusted through the tooth rotation information of the gear plate 111 collected by the microswitch 118. For a specific adjustment process, reference may be made to the above embodiments, which are not described herein again.
In the present embodiment, the microswitch 118 corresponds to a backup of the first driven gear 113 and the first sensor 114 and the second driven gear 116 and the second sensor 117, and functions when both the first driven gear 113 and the second driven gear 116 fail, and can further ensure that the steering angles of the plurality of steering wheels are matched.
The above description is only for the purpose of illustrating embodiments of the present application and is not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application or are directly or indirectly applied to other related technical fields, are also included in the scope of the present application.
Claims (11)
1. A steering wheel, comprising:
the device comprises a driving assembly and a bearing assembly;
the driving assembly comprises a steering driving assembly, and the steering driving assembly comprises an annular gear disc and an annular boss arranged on the gear disc; the bearing assembly comprises a flat plate and a support plate, the middle of the flat plate is provided with a hole, the flat plate is fixed on one side of the annular boss, which is far away from the gear disc, and the support plate is fixed on one side of the flat plate, which is far away from the driving assembly, so that the driving assembly can drive the carrier of the steering wheel to move through the bearing assembly; the holes of the flat plate and the support plate are exposed out of an area defined by the annular inner wall of the gear disc;
the steering driving assembly further comprises a driving gear, a first driven gear and a first sensor; the driving gear and the first driven gear are arranged on the outer side of the gear disc and are respectively meshed with the gear disc; the first sensor is arranged on one side, far away from the bearing assembly, of the first driven gear and used for detecting and feeding back the tooth rotating information of the first driven gear, and therefore the rotating angle of the steering driving assembly is adjusted through the tooth rotating information of the first driven gear.
2. Rudder wheel according to claim 1, wherein the steering drive assembly further comprises a steering drive motor and a gear carrier; the steering driving motor is arranged on one side, away from the flat plate, of the driving gear, and a driving shaft of the steering driving motor is fixedly connected with the driving gear and used for driving the driving gear; the gear support is fixed in turn to driving motor to by the driving gear to first driven gear's direction is followed gear disc's circumference extends, first driven gear set up in gear support face to the side surface of flat board, first sensor corresponding to first driven gear set up in gear support keeps away from the side surface of flat board.
3. Rudder wheel according to claim 2, wherein the steering drive assembly further comprises a second driven gear and a second sensor; the second driven gear is arranged on the surface of one side, facing the flat plate, of the gear support and is meshed with the gear disc; the second sensor corresponds to the second driven gear, is arranged on the surface of one side, far away from the flat plate, of the gear support and is used for detecting and feeding back the tooth rotating information of the second driven gear, so that the rotating angle of the steering driving assembly is adjusted through the tooth rotating information of the second driven gear.
4. The steering wheel according to any one of claims 1 to 3, wherein the steering driving assembly further comprises at least one micro switch, which is disposed on a side surface of the boss facing the flat plate and is used for detecting and feeding back the gear rotating information of the gear plate, so as to adjust the rotation angle of the steering driving assembly through the gear rotating information of the gear plate.
5. Rudder wheel according to claim 1, wherein the boss is fixedly connected to the flat plate by a first connection means, and the flat plate is fixedly connected to the carrier plate by a second connection means, so that the steering drive assembly is fixedly connected to the carrier assembly.
6. The steering wheel according to claim 1, wherein the steering wheel further comprises a wire routing assembly, the wire routing assembly comprises a plurality of wire holes, and the wire holes are used for allowing electrical connection wires belonging to different power ranges of the steering wheel to respectively penetrate through different wire holes.
7. Rudder wheel according to claim 6, wherein the wire aperture comprises a first wire aperture and a second wire aperture; the wiring assembly also comprises a wiring platform and a wire frame; the thread stand is annular and is arranged on the annular inner wall of the gear disc, and at least two first thread holes are formed in the thread stand; the wire frame is bridged on the wire platform, and at least two second wire holes are formed in the wire frame.
8. The steering wheel of claim 7, wherein the wire guiding assembly further comprises a wire groove, the wire groove is a hollow structure and is used for accommodating the electrical connection wire, the wire groove is fixedly connected to a side surface of the support plate away from the flat plate, and one end of the wire groove is located at a hole in the middle of the support plate and is fixedly connected with the wire frame.
9. A control method of a steering wheel is characterized in that the steering wheel comprises a driving component and a bearing component; the driving assembly comprises a steering driving assembly, and the steering driving assembly comprises an annular gear disc and an annular boss arranged on the gear disc; the bearing assembly comprises a flat plate and a support plate, the middle of the flat plate is provided with a hole, the flat plate is fixed on one side of the annular boss, which is far away from the gear disc, and the support plate is fixed on one side of the flat plate, which is far away from the driving assembly, so that the driving assembly can drive the carrier of the steering wheel to move through the bearing assembly; the holes of the flat plate and the support plate are exposed out of an area defined by the annular inner wall of the gear disc; the steering driving assembly further comprises a driving gear, a first driven gear and a first sensor, the driving gear and the first driven gear are arranged on the outer side of the gear disc and are respectively meshed with the gear disc, and the first sensor is arranged on one side, far away from the bearing assembly, of the first driven gear;
The control method comprises the following steps:
the driving gear is driven to rotate so as to drive the gear disc to rotate, and the first driven gear is driven to rotate through the gear disc;
acquiring the gear rotating information of the first driven gear by using the first sensor;
and the rotating angle of the steering driving component is adjusted through the tooth rotating information of the first driven gear.
10. The control method according to claim 9, wherein the tooth rotation information of the first driven gear includes engagement information of the first driven gear with the gear plate and a rotation angle of the first driven gear, and the step of adjusting the rotation angle of the steering drive assembly by the tooth rotation information of the first driven gear includes:
judging whether the first driven gear and the gear disc are in meshing failure or not based on meshing information of the first driven gear and the gear disc;
if the first driven gear and the gear disc are not in meshing fault, judging whether the rotation angle of the steering driving assembly deviates or not based on the rotation angle of the first driven gear;
and if the deviation occurs, adjusting the rotation angle of the steering driving component.
11. The control method according to claim 10, wherein the steering drive assembly further includes a second driven gear provided outside the gear wheel, meshing with the gear wheel, and a second sensor; the second sensor is arranged on one side, far away from the bearing assembly, of the second driven gear;
the step of adjusting the rotation angle of the steering driving assembly through the tooth rotating information of the first driven gear further includes:
if the first driven gear is meshed with the gear disc in a fault, acquiring the tooth rotating information of the second driven gear through the second sensor, wherein the tooth rotating information of the second driven gear comprises the meshing information of the second driven gear and the gear disc and the rotating angle of the second driven gear;
judging whether the second driven gear is in meshing fault with the gear disc or not based on meshing information of the second driven gear and the gear disc;
if the second driven gear and the gear disc are not in meshing fault, judging whether the rotation angle of the steering driving assembly deviates or not based on the rotation angle of the second driven gear;
And if the deviation occurs, adjusting the rotation angle of the steering driving component.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010634987.8A CN111845919B (en) | 2020-07-03 | 2020-07-03 | Steering wheel and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010634987.8A CN111845919B (en) | 2020-07-03 | 2020-07-03 | Steering wheel and control method thereof |
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| CN111845919A true CN111845919A (en) | 2020-10-30 |
| CN111845919B CN111845919B (en) | 2023-09-01 |
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Cited By (1)
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| CN113427997A (en) * | 2021-07-26 | 2021-09-24 | 北京航空航天大学 | Steering driving device |
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| CN111845919B (en) | 2023-09-01 |
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