CN115636035A

CN115636035A - AGV vertical suspension walking and steering integrated device and control method thereof

Info

Publication number: CN115636035A
Application number: CN202211261661.0A
Authority: CN
Inventors: 林叶贵; 邢明; 李伟腾; 邢科新; 黄剑
Original assignee: Zhejiang Tongzhu Technology Co ltd
Current assignee: Zhejiang Tongzhu Technology Co ltd
Priority date: 2022-10-14
Filing date: 2022-10-14
Publication date: 2023-01-24

Abstract

The invention relates to the technical field of automatic guided vehicles, in particular to an AGV vertical suspension walking and steering integrated device and a control method thereof, wherein the AGV vertical suspension walking and steering integrated device comprises a driving assembly, a transmission assembly, an independent steering assembly and a vertical suspension; the rotary support bearing is positioned above the support seat; the supporting plate is positioned above the rotary supporting bearing; the driving motor is vertically arranged above the supporting plate; the output end of the speed reducing component penetrates through the side wall of the supporting seat and is axially and fixedly connected with the travelling wheel; the speed reducer is vertically arranged on the upper end face of the supporting plate, an output shaft of the steering motor is in transmission connection with the speed reducer, and a second steering gear is fixed on the outer ring of the rotary supporting bearing; and the damping component is fixedly connected with the supporting plate and is connected with the suspension bracket in a sliding manner along the vertical direction to damp the AGV bracket. The invention can be suitable for complex road conditions with poor flatness, avoids the condition that the driving motor collides with the steering motor, and has the beneficial effects of good motion stability, strong driving force and large steering angle.

Description

AGV vertical suspension walking and steering integrated device and control method thereof

Technical Field

The invention relates to the technical field of automatic guided vehicles, in particular to an AGV vertical suspension walking and steering integrated device and a control method thereof, which are used for realizing the steering and speed control of the AGV.

Background

Automated Guided Vehicles (AGVs) have an autonomous driving function in unstructured environments, which have become key devices of Automated logistics transportation systems and flexible manufacturing systems. The AGV has a wide development prospect because the demands of industries such as electronic product assembly, automobile manufacturing and logistics are explosively increased in China.

Conventional AGV drive systems include conventional single wheel drive and conventional differential drive. The AGV has a single-wheel driving unit comprising a steering part, and two driven wheels are fixed wheels incapable of steering. The differential driving type AGV carries out steering control through the speed difference of two symmetrical driving motors at the left and the right, is relatively complicated to control, is easy to have speed deviation under the high-speed condition, and is out of control. The AGV adopting the single wheel drive or differential drive mode cannot meet the transportation scenario of high degree of freedom and large load.

An omnibearing AGV driving system has the characteristics of large load capacity and high degree of freedom, but the prior art is not mature enough, for example, a steering wheel driving device with an authorized publication number of CN103895695A, the height of a steering motor from the ground is small, and the steering motor has the risk of friction with the ground even damages the motor under a complex road surface environment with poor flatness; if a high power steering motor is used or a speed reducer with a larger reduction ratio is used, the height of the steering motor from the ground is smaller. In addition, the device drives a gearwheel to rotate through the rotation of a pinion of a steering motor, and the gearwheel drives a driving wheel axle through a steering support, so that the driving wheel assembly steers. The drive device designed in such a way has the risk that the drive motor collides with the steering motor in the steering process.

Therefore, aiming at the problems in the prior art, how to provide an AGV vertical suspension walking and steering integrated device and a control method thereof, which can adapt to complicated road conditions and avoid collision between a driving motor and a steering motor, is a problem that needs to be solved by those skilled in the art.

Disclosure of Invention

The technical problem to be solved by the invention is to provide an AGV vertical suspension walking and steering integrated device and a control method thereof, which can be suitable for complex road conditions with poor flatness, avoid the situation that a driving motor collides with a steering motor, and have the beneficial effects of good motion stability, strong driving force and large steering angle.

The technical scheme for solving the technical problems is as follows:

an AGV vertical suspension walking and steering integrated device comprises a driving assembly, a transmission assembly, an independent steering assembly and a vertical suspension; the transmission assembly comprises a supporting seat, a rotary supporting bearing, a supporting plate and a speed reducing assembly; a cavity is formed in the supporting seat; the rotary support bearing is positioned above the supporting seat, and the outer ring of the rotary support bearing is fixedly connected with the supporting seat; the supporting plate is horizontally positioned above the rotary supporting bearing and fixedly connected with the inner ring of the rotary supporting bearing; the speed reducing assembly is arranged in the cavity; the driving assembly comprises a driving motor and a traveling wheel; the driving motor is vertically arranged on the upper end surface of the supporting plate, and an output shaft of the driving motor vertically penetrates through the supporting plate downwards and is in transmission connection with the input end of the speed reducing component; the travelling wheel is positioned on one side of the supporting seat, and the output end of the speed reducing component penetrates through the side wall of the supporting seat and is axially and fixedly connected with the travelling wheel; the independent steering assembly comprises a steering motor and a speed reducer; the speed reducer is vertically arranged on the upper end face of the supporting plate, the steering motor is arranged at the upper end of the speed reducer, an output shaft of the steering motor is in transmission connection with the speed reducer, and the output shaft of the speed reducer vertically penetrates through the supporting plate downwards and is provided with a first steering gear; a second steering gear is fixed on the outer ring of the slewing bearing, and the first steering gear is in meshing transmission with the second steering gear; the vertical suspension comprises a suspension bracket and a damping component; the suspension bracket is vertically arranged and fixedly connected with an AGV bracket positioned above the suspension bracket; the damping assembly is fixedly connected with the supporting plate and is connected with the suspension bracket in a sliding mode along the vertical direction to be used for damping the AGV bracket; the upper end of the driving motor is sequentially provided with an incremental encoder and an electromagnetic brake; an absolute value encoder is mounted at the upper end of the steering motor; and an electromagnetic induction limiting component is arranged on one side, close to the damping component, of the upper end face of the supporting plate.

The beneficial effects of the invention are: the suspension bracket of the vertical suspension is connected with the AGV bracket, the damping component of the vertical suspension is connected with the support plate, when the road condition with poor flatness is met, the damping component and the suspension slide relatively in the vertical direction, the influence of uneven road surface is counteracted through the damping component, and the AGV suspension device is suitable for various complex road conditions; compared with the mode of mounting the driving assembly and the independent steering assembly below the supporting plate, firstly, the height of the driving motor and the steering motor from the ground is increased, the motor is prevented from being damaged by a road with poor flatness, and the supporting plate has a protection effect on the motor; the driving motor and the steering motor are connected with the supporting plate, the driving motor and the steering motor cannot rotate relatively, collision is avoided, the steering angle is large, and high-degree-of-freedom motion can be realized; the driving motor drives the traveling wheel to move after the speed is reduced by the speed reducing assembly and the torque is increased, and the steering motor drives the outer ring of the slewing support bearing to rotate after the speed is reduced by the speed reducer and the torque is increased, so that the steering of the traveling wheel is realized, and the driving force is strong; the incremental encoder is connected with the rear shaft of the driving motor, the absolute value encoder is connected with the rear shaft of the steering motor, the feedback signal is more accurate, and the stability of the system operation is improved; the electromagnetic induction limit switch is used for carrying out feedback control on the steering angle of the steering motor.

On the basis of the technical scheme, the invention can be further improved as follows.

Further, the speed reduction assembly comprises a first transmission shaft, a second transmission shaft, a first transmission gear set and a second transmission gear; the first transmission shaft is arranged perpendicular to the supporting plate, two ends of the first transmission shaft are rotatably connected to the inner wall of the supporting seat, the first transmission gear set which is arranged horizontally is sleeved and fixed on the first transmission shaft, a motor gear is mounted on an output shaft of the driving motor, and the first transmission gear set is horizontally meshed with the motor gear for transmission; the second transmission shaft is horizontally arranged, two ends of the second transmission shaft are rotatably connected to the inner wall of the supporting seat, and the second transmission gear is fixed on the second transmission shaft, positioned below the first transmission gear set and vertically meshed for transmission; one end of the second transmission shaft, which is close to the travelling wheel, penetrates through the inner wall of the supporting seat and is fixedly connected with the travelling wheel in the axial direction.

Further, the first transmission gear set comprises a cylindrical gear and a bevel gear which are coaxially arranged, the cylindrical gear is horizontally meshed with the motor gear, and the bevel gear is vertically meshed with the second transmission gear.

The beneficial effect of adopting the above further scheme is: the first transmission gear set adopts a duplicate gear of a bevel gear and a cylindrical gear, and the second transmission gear is a bevel gear; the bevel gear part of the first transmission gear set is vertically meshed with the second transmission gear, so that torque is transmitted and the direction is changed; the cylindrical gear part of the first transmission gear set is horizontally meshed with the motor gear; the second transmission gear and the travelling wheel are coaxially fixed to drive the travelling wheel to move.

Furthermore, the two ends of the first transmission shaft and the second transmission shaft are rotatably connected with the inner wall of the supporting seat through bearings, the diameter of the cylindrical gear is larger than that of the motor gear, and the diameter of the bevel gear is larger than that of the second transmission gear.

The beneficial effect of adopting the further scheme is that: the motor gear is meshed with the cylindrical gear of the first transmission gear set to realize primary speed reduction, and the second transmission gear is meshed with the bevel gear of the first transmission gear set to realize secondary speed reduction.

Further, the damping assembly comprises a suspension upright post, a damping spring and a bolt; the suspension bracket is provided with an upper sliding block and a lower sliding block which are arranged at intervals along the vertical direction, and the suspension upright post sequentially penetrates through the lower sliding block, the supporting plate and the upper sliding block from bottom to top; the bolt sequentially penetrates through and fixes the supporting plate and the hanging upright post; two ends of the suspension upright post are respectively connected with the upper sliding block and the lower sliding block in a sliding manner; the damping spring is sleeved on the suspension upright column, and two ends of the damping spring are respectively abutted against the upper sliding block and the supporting plate; the upper sliding block is used for being fixedly connected with the AGV bracket.

The beneficial effect of adopting the above further scheme is: mounting holes are correspondingly formed in the upper sliding block, the lower sliding block and the supporting plate, and the mounting holes of the lower sliding block, the supporting plate and the upper sliding block are sequentially arranged in the hanging upright post in a penetrating manner; when the suspension upright post meets a road surface with poor flatness, the suspension upright post slides relative to the mounting holes of the upper sliding block and the lower sliding block, and the influence of the uneven road surface is offset through the elasticity of the damping spring.

Further, hang the stand with damping spring's quantity is two, two hang the stand interval and arrange and correspond the cover and be equipped with damping spring.

The beneficial effect of adopting the above further scheme is: the stability and the shock absorption effect of the device are improved through the two suspension upright columns and the shock absorption springs which are symmetrically arranged.

The motor support comprises a clamping ring and an annular frame, and the clamping ring is tightly sleeved with the drive motor shell; the outer wall of the annular frame is radially protruded and formed with a plurality of supporting lugs, the supporting lugs are fixed with the supporting plate through bolts, and the clamping ring is fixed with the annular frame through bolts.

The beneficial effect of adopting the further scheme is that: the snap ring is used for supporting the motor and is circumferentially limited, the annular frame is used for being connected with the supporting plate, and the snap ring and the annular frame are arranged in a split mode and are convenient for fixing the driving motor on the supporting plate.

Further, the clamping ring comprises a first arc-shaped clamping ring and a second arc-shaped clamping ring, the first arc-shaped clamping ring and the second arc-shaped clamping ring are symmetrically sleeved on the shell of the driving motor, and opposite ends of the first arc-shaped clamping ring and the second arc-shaped clamping ring are arranged at intervals; first arc snap ring with the equal shaping of the inner wall of second arc snap ring has a plurality of draw-in grooves along circumference equipartition, the draw-in groove with drive motor casing's heat dissipation strengthening rib adaptation joint.

The beneficial effect of adopting the further scheme is that: the clamping ring is arranged in a split mode, so that the clamping ring can be conveniently sleeved with the shell of the driving motor, and the clamping groove and the heat dissipation reinforcing rib are clamped to limit the circumferential direction of the driving motor.

Furthermore, the driving motor is a brushless servo motor, and a temperature sensor is integrally installed in the driving motor; the steering motor is a direct current brushless servo motor.

The beneficial effect of adopting the further scheme is that: the temperature sensor detects the internal temperature of the driving motor in real time and feeds the internal temperature back to the controller; and a brushless servo motor is adopted, so that extra maintenance is not needed, and the cost is reduced.

The invention also discloses a control method of the AGV vertical suspension walking and steering integrated device, which comprises the following steps:

s1: powering on the system and opening the electromagnetic brake;

s2: the servo driver controls a driving motor, and the driving motor decelerates through a deceleration component in the supporting seat so as to enable the traveling wheels to move; the incremental encoder feeds back the speed information of the driving motor to the controller, and the controller controls the servo driver to control the speed of the driving motor through closed-loop speed feedback so as to enable the travelling wheel to move back and forth;

s3: the absolute position encoder directly reads the current position information of the steering motor to judge the current angle position and feeds the current angle position back to the controller;

s4: the navigation sensor detects the position information of the current path at any moment, and the controller performs an active disturbance rejection motion control algorithm according to the deviation condition of the current path information and the target position information to obtain the output quantity of the steering motor;

s5: the steering motor is used for carrying out closed-loop position control through the controller, the steering motor drives the speed reducer, the speed reducer is in meshing transmission with a second steering gear on the outer ring of the rotary support bearing through the first steering gear, the outer ring of the rotary support bearing is driven to move, and finally steering of the travelling wheel is achieved; the absolute value encoder reads the current steering angle information in real time;

s6, when the steering amplitude is too large, the electromagnetic induction limiting assembly is triggered to output a limiting signal, and the steering motor stops steering;

s7: when the walking stops, an electromagnetic brake arranged on the driving motor is braked, so that the phenomenon that the driving motor slides down a slope when moving is prevented.

The control method has the beneficial effects that: the transmission assembly is powered by a driving motor, the output end of the transmission assembly is connected with the travelling wheel, and the output torque is increased by utilizing the speed reduction assembly in the supporting seat cavity to drive the travelling wheel to move; the incremental encoder transmits a speed feedback signal of the driving motor to the controller, so that the speed control of the AGV is realized, the earthquake resistance can be effectively realized, and the stability is better; the AGV steering mechanism has the advantages that all-directional movement of the AGV is achieved through the independent steering assembly, the steering motor firstly passes through the speed reducer, the first-stage speed reduction is added, and the driving capability of the steering module is increased; an incremental encoder directly connected with a walking motor is used as a feedback sensor, so that the earthquake resistance can be effectively realized, and the stability is better; the absolute value encoder directly connected with the steering motor is used for feeding back, so that the precision of a steering angle feedback signal is increased, the backlash error caused by gear transmission is reduced, and the phenomenon that equipment swings back and forth near a set position due to an angle control error is prevented; the absolute value encoder can also keep the position information when the power is off, so that the AGV system can be ensured to be electrified and the current position angle of the driving wheel can be directly read, a user can directly know the current angle position of the driving wheel, and the direction can be conveniently controlled by the user; the electromagnetic induction limit switch is adopted to limit the steering angle, so that the safety of the system is improved;

the improved omnibearing driving mode has the advantages of simple walking and steering control, high flexibility and stronger driving force, and can realize high-degree-of-freedom motion under the condition of heavy load of the AGV; the speed and angle feedback unit is directly connected with the walking motor and the steering motor, the feedback signal is accurate, the backlash error caused by gear transmission is reduced, and the motion stability is good.

Through the technical scheme, compared with the prior art, the invention has the beneficial effects that:

(1) The invention can be suitable for various complex road conditions; on one hand, the AGV support and the support plate are respectively connected through a vertical suspension, a suspension upright post of the vertical suspension is fixedly connected with the support plate and slides along the vertical direction with the upper sliding block and the lower sliding block, and when the pavement evenness is poor, the damping effect is realized through a damping spring sleeved on the suspension upright post; on the other hand, the driving assembly and the independent steering assembly are arranged above the supporting plate, so that the height of the driving motor and the steering motor from the ground is increased, and the damage of the motor caused by the uneven road surface is avoided; the driving motor and the steering motor are fixedly connected above the supporting plate, and do not rotate relatively in the steering process, so that the collision between the driving motor and the steering motor is avoided;

(2) The driving motor realizes speed reduction and torque increase through the speed reduction assembly, specifically, a motor gear is horizontally meshed with the first transmission gear set to realize primary speed reduction, the first transmission gear set is vertically meshed with the second transmission gear to realize secondary speed reduction, and the second transmission gear is coaxially fixed with the traveling wheel to realize movement; the steering motor and the speed reducer are nested to realize speed reduction and torque increase; therefore, the invention has strong driving force and can be suitable for the transportation occasion of large load;

(3) The incremental encoder is connected with the driving motor, so that the speed feedback accuracy is increased, and the system stability is good; the absolute value encoder is connected with the steering motor, so that the steering feedback precision is increased, the backlash error caused by gear transmission is reduced, the phenomenon that the equipment wanders back and forth near a set position due to an angle control error is prevented, the motion stability of the equipment is good, and the device is suitable for different working conditions; and driving motor and steering motor all rigid coupling in backup pad top, can realize high degree of freedom wide-angle motion.

Drawings

FIG. 1 is a schematic view of the overall structure of an AGV vertical suspension walking and steering integrated device according to the present invention;

FIG. 2 is a schematic diagram of the transmission connection of the deceleration assembly of the integrated AGV vertical suspension walking and steering device of the present invention.

In the drawings, the components represented by the respective reference numerals are listed below:

1-a travelling wheel; 2-driving the motor; 3-motor gear; 4-incremental encoder; 5-a supporting seat; 6-a slewing support bearing; 7-a motor bracket; 8-a support plate; 9-a first transmission gear set; 10-a second transmission gear; 11-a first drive shaft; 12-a speed reducer; 13-a steering motor; 14-a first steering gear; 15-hanging the bracket; 16-hanging columns; 17-a damping spring; 18-a latch; 19-absolute value encoder; 20-an electromagnetic induction limiting component; 21-an electromagnetic brake; 22-second drive shaft.

Detailed Description

The principles and features of this invention are described below in conjunction with the following drawings, which are set forth to illustrate, but are not to be construed to limit the scope of the invention.

As shown in FIGS. 1 and 2, the embodiment of the invention discloses an AGV vertical suspension walking and steering integrated device, which comprises a driving assembly, a transmission assembly, an independent steering assembly and a vertical suspension, wherein the driving assembly is arranged on the driving assembly;

the transmission assembly comprises a supporting seat 5, a rotary supporting bearing 6, a supporting plate 8 and a speed reduction assembly; a cavity is formed inside the supporting seat 5; the rotary support bearing 6 is positioned above the support seat 5, and the outer ring of the rotary support bearing is fixedly connected with the support seat 5; the supporting plate 8 is horizontally positioned above the rotary supporting bearing 6 and fixedly connected with the inner ring of the rotary supporting bearing; the speed reducing assembly is arranged in the cavity; the driving assembly comprises a driving motor 2 and a travelling wheel 1; the driving motor 2 is vertically arranged on the upper end surface of the supporting plate 8, and an output shaft of the driving motor downwards penetrates through the supporting plate 8 and is in transmission connection with the input end of the speed reducing component; the walking wheel 1 is positioned on one side of the supporting seat 5, and the output end of the speed reducing component penetrates through the side wall of the supporting seat 5 and is axially and fixedly connected with the walking wheel 1; the independent steering assembly comprises a steering motor 13 and a speed reducer 12; the speed reducer 12 is vertically arranged on the upper end face of the support plate 8, the steering motor 13 is arranged on the upper end of the speed reducer 13, an output shaft of the steering motor is in transmission connection with the speed reducer 12, and the output shaft of the speed reducer 12 downwards penetrates through the support plate 8 and is provided with a first steering gear 14; a second steering gear is fixed on the outer ring of the rotary support bearing 6, and the first steering gear 14 is in meshing transmission with the second steering gear;

the vertical suspension comprises a suspension bracket 15 and a shock absorption assembly; the suspension bracket 15 is vertically arranged and fixedly connected with an AGV bracket positioned above the suspension bracket; the damping component is fixedly connected with the support plate 8 and is connected with the suspension bracket 15 in a sliding manner along the vertical direction for damping the AGV bracket; the upper end of the driving motor 2 is sequentially provided with an incremental encoder 4 and an electromagnetic brake 21; an absolute value encoder 19 is installed at the upper end of the steering motor 13; an electromagnetic induction limiting component 20 is arranged on one side, close to the shock absorption component, of the upper end face of the supporting plate 8. The upper end of the driving motor 2 is a non-driving end, and the upper end of the steering motor 13 is a non-driving end.

In order to further optimize the above technical solution, as shown in fig. 2, the speed reduction assembly includes a first transmission shaft 11, a second transmission shaft 22, a first transmission gear set 9 and a second transmission gear 10; the first transmission shaft 11 is arranged perpendicular to the supporting plate, two ends of the first transmission shaft are rotatably connected to the inner wall of the supporting seat 5, a first transmission gear set 9 which is horizontally arranged is fixedly sleeved on the first transmission shaft 11, the motor gear 3 is installed on an output shaft of the driving motor 2, and the first transmission gear set 9 is horizontally meshed with the motor gear 3 for transmission; the second transmission shaft 22 is horizontally arranged, two ends of the second transmission shaft are rotatably connected to the inner wall of the supporting seat 5, and the second transmission gear 10 is fixed on the second transmission shaft 22, positioned below the first transmission gear set 9 and vertically meshed for transmission; one end of the second transmission shaft 22 close to the walking wheel 1 penetrates through the inner wall of the supporting seat 5 and is axially and fixedly connected with the walking wheel 1.

In order to further optimize the technical scheme, the first transmission gear set 9 comprises a cylindrical gear and a bevel gear which are coaxially arranged, the cylindrical gear is horizontally meshed with the motor gear 3, and the bevel gear is vertically meshed with the second transmission gear 10. The second transmission gear 10 is a bevel gear.

In order to further optimize the technical scheme, two ends of the first transmission shaft 11 and the second transmission shaft 22 are rotatably connected with the inner wall of the supporting seat 5 through bearings, the diameter of the cylindrical gear is larger than that of the motor gear 3, and the diameter of the bevel gear is larger than that of the second transmission gear 9.

In order to further optimize the above technical solution, the damping assembly comprises a suspension upright 16, a damping spring 17 and a bolt 18; the suspension bracket 15 is provided with an upper slide block and a lower slide block which are arranged at intervals along the vertical direction, and the suspension upright post 16 sequentially penetrates through the lower slide block, the support plate 8 and the upper slide block from bottom to top; the bolt 18 is sequentially inserted through the fixed support plate 18 and the hanging upright post 16; two ends of the suspension upright post 16 are respectively connected with the upper sliding block and the lower sliding block in a sliding way; the damping spring 17 is sleeved on the suspension upright column 16, and two ends of the damping spring are respectively abutted against the upper sliding block and the supporting plate 8; the upper sliding block is used for being fixedly connected with the AGV bracket. The mounting hole has been seted up along vertical direction correspondence to top shoe, lower slider and backup pad 8, and the bolt hole of its mounting hole of intercommunication is seted up to 8 lateral walls of backup pad, and bolt 18 wears to establish the bolt hole and is used for solid fixed support board 8 and hangs stand 16.

In order to further optimize the technical scheme, the number of the suspension upright columns 16 and the number of the damping springs 17 are two, and the two suspension upright columns 16 are arranged at intervals and are correspondingly sleeved with the damping springs 17.

In order to further optimize the technical scheme, the device also comprises a motor support 7, wherein the motor support 7 comprises a clamping ring and an annular frame, and the clamping ring is tightly sleeved with the shell of the driving motor 2; the outer wall of the annular frame is radially protruded and formed with a plurality of supporting lugs, the supporting lugs are fixed with the supporting plate 8 through bolts, and the clamping ring is fixed with the annular frame through bolts. The snap ring is fixedly connected with the upper end surface of the annular frame.

In order to further optimize the technical scheme, the clamping ring comprises a first arc-shaped clamping ring and a second arc-shaped clamping ring, the first arc-shaped clamping ring and the second arc-shaped clamping ring are symmetrically sleeved on the shell of the driving motor 2, and opposite ends of the first arc-shaped clamping ring and the second arc-shaped clamping ring are arranged at intervals; the inner wall of first arc snap ring and second arc snap ring all the shaping has a plurality of draw-in grooves along the circumference equipartition, the heat dissipation strengthening rib adaptation joint of draw-in groove and driving motor 2 casings.

In order to further optimize the technical scheme, the driving motor 2 is a brushless servo motor, and a temperature sensor is integrally installed in the driving motor; the steering motor 13 is a dc brushless servo motor.

The embodiment of the invention also discloses a control method of the AGV vertical suspension walking and steering integrated device, which comprises the following steps:

s1: the system is powered on, and the electromagnetic brake 21 is opened;

s2: the servo driver controls the driving motor 2, the driving motor 2 decelerates through the deceleration component in the supporting seat 5, and then the walking wheel 1 moves; the incremental encoder 4 feeds back the speed information of the driving motor 2 to the controller, and the controller controls the servo driver to control the speed of the driving motor 2 through closed-loop speed feedback so as to enable the travelling wheel 1 to move back and forth;

s3: the absolute position encoder 19 directly reads the current position information of the steering motor 13 to judge the current angle position and feeds the current angle position back to the controller;

s4: the navigation sensor detects the position information of the current path at any moment, and the controller performs an active disturbance rejection motion control algorithm according to the deviation condition of the current path information and the target position information to obtain the output quantity of the steering motor 13;

s5: the steering motor 13 is used for performing closed-loop position control through the controller, the steering motor 13 drives the speed reducer 12, the speed reducer 12 is in meshing transmission with a second steering gear on the outer ring of the rotary support bearing 6 through the first steering gear 14, and then the outer ring of the rotary support bearing 6 is driven to move, and finally the steering of the travelling wheel 1 is realized; the absolute value encoder 19 reads the current steering angle information in real time;

s6, when the steering amplitude is too large, the electromagnetic induction limiting assembly 20 is triggered to output a limiting signal, and the steering motor 13 stops steering;

s7: when the walking stops, the electromagnetic brake 21 arranged on the driving motor 2 is braked, so that the phenomenon that the driving motor 2 slips down the slope when moving is prevented.

When the integrated device for the traveling and steering of the AGV vertical suspension is used, the suspension bracket 15 is connected with the AGV bracket, and the suspension upright post 16 is fixedly connected with the support plate 8 through the bolt 18; when walking on a road surface with poor flatness, the walking wheels 1 bump up and down to drive the supporting plate 8 to bump up and down, at the moment, two ends of the suspension upright post 16 respectively slide with the upper sliding block and the lower sliding block of the suspension bracket 15, and the influence of the uneven road surface is counteracted through the compression and elastic recovery of the damping spring 17 in the process of sliding up and down;

the driving motor 2 and the steering motor 13 are both positioned above the supporting plate 8 and are fixedly connected with the inner ring of the rotary supporting bearing 6 through the supporting plate 8; the supporting seat 5, the speed reducing component and the travelling wheel 1 are all positioned below the supporting plate 8 and fixedly connected with the outer ring of the rotary supporting bearing 6; when the walking wheels 1 are required to move and walk, the motor gear 3 of the output shaft of the driving motor 2 is in meshing transmission with the cylindrical gear part of the first transmission gear set 9 to realize primary speed reduction; the bevel gear part of the first transmission gear set 9 is meshed with the second transmission gear to realize two-stage speed reduction; the second transmission gear 10 and the travelling wheel 1 are coaxially fixed to drive the travelling wheel 1 to move back and forth;

when the walking wheel 1 needs to be steered, an output shaft of a steering motor 13 is in transmission connection with a speed reducer 12 and reduces the speed, a first steering gear 14 of the output shaft of the speed reducer 12 is in meshing transmission with a second steering gear of the outer ring of a rotary support bearing 6 to realize the rotation of the outer ring of the rotary support bearing 6 relative to the inner ring, a support seat 5 and a support plate 8 rotate relatively, and the support seat 5 drives the walking wheel 1 to rotate relatively relative to an AGV support to realize steering;

the incremental encoder 4 is connected with the non-driving end of the driving motor 2 and feeds back the speed information of the driving motor 2 to the controller; the absolute value encoder 19 is connected with the non-driving end of the steering motor 13 and feeds back the rotation angle of the steering motor 13 to the controller; when the steering amplitude is too large, the electromagnetic induction limit component 20 sends a limit signal.

The navigation sensor constantly detects the position information of the current path and feeds the position information back to the controller, and the navigation sensor adopts any one of a magnetic navigation sensor, a laser navigation sensor or a visual navigation sensor.

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, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims

1. An AGV vertical suspension walking and steering integrated device is characterized by comprising a driving assembly, a transmission assembly, an independent steering assembly and a vertical suspension;

the transmission assembly comprises a supporting seat (5), a rotary supporting bearing (6), a supporting plate (8) and a speed reducing assembly; a cavity is formed in the supporting seat (5); the rotary support bearing (6) is positioned above the support seat (5), and the outer ring of the rotary support bearing is fixedly connected with the support seat (5); the supporting plate (8) is horizontally positioned above the rotary supporting bearing (6) and is fixedly connected with the inner ring of the rotary supporting bearing; the speed reducing assembly is arranged in the cavity;

the driving component comprises a driving motor (2) and a travelling wheel (1); the driving motor (2) is vertically arranged on the upper end surface of the supporting plate (8), and an output shaft of the driving motor downwards penetrates through the supporting plate (8) and is in transmission connection with the input end of the speed reducing component; the walking wheel (1) is positioned on one side of the supporting seat (5), and the output end of the speed reducing assembly penetrates through the side wall of the supporting seat (5) and is axially and fixedly connected with the walking wheel (1);

the independent steering assembly comprises a steering motor (13) and a speed reducer (12); the speed reducer (12) is vertically arranged on the upper end face of the supporting plate (8), the steering motor (13) is arranged at the upper end of the speed reducer (13), an output shaft of the steering motor is in transmission connection with the speed reducer (12), and the output shaft of the speed reducer (12) downwards penetrates through the supporting plate (8) and is provided with a first steering gear (14); a second steering gear is fixed on the outer ring of the rotary support bearing (6), and the first steering gear (14) is in meshing transmission with the second steering gear;

the vertical suspension comprises a suspension bracket (15) and a damping component; the hanging supports (15) are vertically arranged and fixedly connected with the AGV supports positioned above the hanging supports; the damping component is fixedly connected with the supporting plate (8) and is connected with the suspension bracket (15) in a sliding manner along the vertical direction for damping the AGV bracket;

the upper end of the driving motor (2) is sequentially provided with an incremental encoder (4) and an electromagnetic brake (21); an absolute value encoder (19) is installed at the upper end of the steering motor (13); and an electromagnetic induction limiting component (20) is arranged on one side, close to the damping component, of the upper end face of the supporting plate (8).

2. An integrated AGV vertical suspension walking and steering device according to claim 1, wherein said speed reduction assembly comprises a first transmission shaft (11), a second transmission shaft (22), a first transmission gear set (9) and a second transmission gear (10); the first transmission shaft (11) is arranged perpendicular to the supporting plate (8), two ends of the first transmission shaft are rotatably connected to the inner wall of the supporting seat (5), the first transmission gear set (9) which is arranged horizontally is sleeved and fixed on the first transmission shaft (11), a motor gear (3) is installed on an output shaft of the driving motor (2), and the first transmission gear set (9) is in horizontal meshing transmission with the motor gear (3);

the second transmission shaft (22) is horizontally arranged, two ends of the second transmission shaft are rotatably connected to the inner wall of the supporting seat (5), and the second transmission gear (10) is fixed on the second transmission shaft (22), positioned below the first transmission gear set (9) and vertically meshed for transmission; one end of the second transmission shaft (22) close to the walking wheel (1) penetrates through the inner wall of the supporting seat (5) and is fixedly connected with the walking wheel (1) in the axial direction.

3. An AGV vertical suspension walking and steering integrated device according to claim 2, wherein the first transmission gear set (9) comprises a cylindrical gear and a bevel gear which are coaxially arranged, the cylindrical gear is horizontally meshed with the motor gear (3), and the bevel gear is vertically meshed with the second transmission gear (10).

4. An AGV vertical suspension walking and steering integrated device according to claim 3, wherein both ends of the first transmission shaft (11) and the second transmission shaft (22) are rotatably connected with the inner wall of the supporting seat (5) through bearings, the diameter of the cylindrical gear is larger than that of the motor gear (3), and the diameter of the bevel gear is larger than that of the second transmission gear (9).

5. An AGV vertical suspension walking and steering integrated device according to claim 1 wherein said shock assembly includes a suspension post (16), a shock absorbing spring (17) and a latch (18); the suspension bracket (15) is provided with an upper sliding block and a lower sliding block which are arranged at intervals along the vertical direction, and the suspension upright post (16) sequentially penetrates through the lower sliding block, the support plate (8) and the upper sliding block from bottom to top; the bolt (18) sequentially penetrates through and fixes the support plate (18) and the suspension upright post (16); two ends of the suspension upright post (16) are respectively connected with the upper sliding block and the lower sliding block in a sliding manner; the damping spring (17) is sleeved on the suspension upright post (16), and two ends of the damping spring are respectively abutted against the upper sliding block and the supporting plate (8); the upper sliding block is used for being fixedly connected with the AGV bracket.

6. An AGV vertical suspension walking and steering integrated device according to claim 5, wherein the number of the suspension columns (16) and the damping springs (17) is two, and the suspension columns (16) are arranged at intervals and are correspondingly sleeved with the damping springs (17).

7. The integrated device for walking and steering an AGV vertical suspension frame according to any one of claims 1 to 6, further comprising a motor bracket (7), wherein the motor bracket (7) comprises a clamping ring and an annular frame, and the clamping ring is sleeved and clamped with the shell of the driving motor (2); the outer wall of the annular frame is radially protruded and formed with a plurality of supporting lugs, the supporting lugs are fixed with the supporting plate (8) through bolts, and the clamping ring is fixed with the annular frame through bolts.

8. An AGV vertical suspension walking and steering integrated device according to claim 7, wherein said clamp ring comprises a first arc-shaped clamp ring and a second arc-shaped clamp ring, said first arc-shaped clamp ring and said second arc-shaped clamp ring are symmetrically sleeved on said drive motor (2) housing and arranged with their opposite ends spaced apart; the inner wall of the first arc-shaped clamping ring and the inner wall of the second arc-shaped clamping ring are all formed with a plurality of clamping grooves which are uniformly distributed along the circumferential direction, and the clamping grooves are connected with the heat dissipation reinforcing ribs of the shell of the driving motor (2) in an adaptive mode.

9. An AGV vertical suspension walking and steering integrated device according to claim 8, wherein the driving motor (2) is a brushless servo motor and is internally and integrally provided with a temperature sensor; the steering motor (13) is a direct-current brushless servo motor.

10. A method of controlling an integrated AGV vertical suspension travel and steering apparatus according to any one of claims 1 to 9, comprising the steps of:

s1: the system is powered on, and an electromagnetic brake (21) is opened;

s2: the servo driver controls the driving motor (2), and the driving motor (2) decelerates through a deceleration component in the supporting seat (5) so as to enable the travelling wheel (1) to move; the incremental encoder (4) feeds back speed information of the driving motor (2) to the controller, and the controller controls the servo driver to control the speed of the driving motor (2) through closed-loop speed feedback so that the travelling wheel (1) moves back and forth;

s3: the absolute position encoder (19) directly reads the current position information of the steering motor (13) to judge the current angle position and feeds the current angle position back to the controller;

s4: the navigation sensor detects the position information of the current path at any time, and the controller performs an active disturbance rejection motion control algorithm according to the deviation condition of the current path information and the target position information to obtain the output quantity of the steering motor (13);

s5: the steering motor (13) is used for carrying out closed-loop position control through a controller, the steering motor (13) drives a speed reducer (12), the speed reducer (12) is in meshing transmission with a second steering gear on the outer ring of the rotary support bearing (6) through a first steering gear (14), so that the outer ring of the rotary support bearing (6) is driven to move, and finally the steering of the walking wheel (1) is realized; the absolute value encoder (19) reads the current steering angle information in real time;

s6, when the steering amplitude is too large, the electromagnetic induction limiting component (20) is triggered to output a limiting signal, and the steering motor (13) stops steering;

s7: when the walking is stopped, an electromagnetic brake (21) arranged on the driving motor (2) is used for contracting a brake, and the phenomenon that the driving motor (2) slips on a slope when moving is further prevented.