CN201258021Y - Electron differential speed system of straddle carrier - Google Patents

Electron differential speed system of straddle carrier Download PDF

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Publication number
CN201258021Y
CN201258021Y CNU2008201113435U CN200820111343U CN201258021Y CN 201258021 Y CN201258021 Y CN 201258021Y CN U2008201113435 U CNU2008201113435 U CN U2008201113435U CN 200820111343 U CN200820111343 U CN 200820111343U CN 201258021 Y CN201258021 Y CN 201258021Y
Authority
CN
China
Prior art keywords
steering
steering hardware
straddle carrier
drive motor
wheels
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CNU2008201113435U
Other languages
Chinese (zh)
Inventor
杨瑞
饶京川
李海波
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Transportation System Electrical And Mechanical Design Institute
WATER TRANSPORT SCIENCE INST MINISTRY OF COMMUNICATIONS
Original Assignee
Transportation System Electrical And Mechanical Design Institute
WATER TRANSPORT SCIENCE INST MINISTRY OF COMMUNICATIONS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Transportation System Electrical And Mechanical Design Institute, WATER TRANSPORT SCIENCE INST MINISTRY OF COMMUNICATIONS filed Critical Transportation System Electrical And Mechanical Design Institute
Priority to CNU2008201113435U priority Critical patent/CN201258021Y/en
Application granted granted Critical
Publication of CN201258021Y publication Critical patent/CN201258021Y/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

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Abstract

The utility model relates to an electronic differential system for a container self-taking and self-unloading transportation device, which particularly provides a steering and differential velocity function for a container straddle carrier. The utility model adopts a variable frequency driving technology to drive driving motors on the left and right sides of a vehicle; a rotary encoder is equipped to detect the running speed of wheels; a steering device is adopted to control the steering direction of the driving wheels on the left and right sides; a measuring sensor is arranged measure the steering angle of the driving wheels; and PLC control system double closed-loop vector control is realized, and the functions of stable walking and steering is achieved. The electronic differential system of the utility model has the advantages of simple structure, convenient maintenance, and low cost, so as to fulfill the walking and steering requirement of a container straddle carrier. By adopting the utility model, the manufacturing and maintenance cost is greatly reduced. The utility model is a preferred electronic differential system for a container self-taking and self-unloading transportation device.

Description

Straddle carrier electronic differential system
Affiliated technical field
The utility model relates to the freight container self-unloading haulage equipment electronic differential system of asking for, and especially can provide the electronic differential function for container straddle carrier.
Background technology
Container straddle carrier belongs to mobile handling machinery, its unique texture decision can not be installed conventional load-carrying steeraxle, make left and right sides bilateral drive wheel in the vehicle operating process can produce the frictional ground force of different vectors like this, thereby bring potential safety hazard to vehicle ', shorten the service life of tire simultaneously, expended a large amount of power sources.
At present, it is fluid power system that container straddle carrier adopted more, is made up of oil pump, oil pipe, oil motor etc., and its walking and the delivery quality that turns to function mainly to lean on oil pump to supply with oil motor are controlled.This system complex, cost height, fault rate height, service expenditure height.Container straddle carrier needs the stockyard loading and unloading operation that flows, and often turns to, and therefore is necessary to adopt simple and reliable, easy to maintenance and cost is low turns to differential system.
Summary of the invention
For solving conventional container straddle carrier steering hardware complexity, cost and the high problem of maintenance cost, the utility model provides a kind of electronic differential system, the needs that satisfy the container straddle carrier walking, turn to, and this system is simple and reliable, and is easy to maintenance.
The technical scheme that its technical matters that solves the utility model adopts is: adopt variable-frequency driving technique to come the drive motor of powered vehicle left and right sides bilateral, the configuration rotary encoder detects the moving velocity of wheel, adopt steering hardware to drive the steering direction of left and right sides bilateral drive wheel, survey sensor is set calculates the drive wheels steering angle, realize the two closed-loop vector controls of PLC system, reach the function that vehicle is steadily walked, turned to.
The utility model mainly is made of PLC system, accelerator device, steering hardware, brake gear, drive motor A/ drive motor B, rotary encoder A/ rotary encoder B, steering hardware A/ steering hardware B, left side wheel/right side wheels, survey sensor A/ survey sensor B etc.; Accelerator device, steering hardware, brake gear link to each other with the PLC system respectively, be provided with the two closed-loop vector control modules of electronic differential in this PLC system, the signal that this module is input to the PLC system according to accelerator device, steering hardware, brake gear is regulated voltage, the frequency signal of output; Rotary encoder A/ rotary encoder B is installed in respectively on the drive motor A/ drive motor B; Drive motor A/ drive motor B links to each other with left side wheel/right side wheels respectively, the drive wheels running; The feedback signal of rotary encoder A/ rotary encoder B detects the speed of travel of left side wheel/right side wheels; Survey sensor A/ survey sensor B is contained on the steering hardware A/ steering hardware B, is used for measuring steering angle.Be provided with the two closed-loop vector control modules of electronic differential in the PLC system, the signal that this module is input to the PLC system according to accelerator device, steering hardware, brake gear is regulated voltage, the frequency signal of output.
The beneficial effects of the utility model are, this electronic differential system architecture is simple, easy to maintenance, cost is low, satisfied the requirement that container straddle carrier travels, turns to, solved problems such as conventional container straddle carrier steering swivel system complex structure, manufacturing and maintenance cost height, for container straddle carrier provides a kind of simple and practical electrical steering differential system, the application of this system can reduce the manufacturing and the maintenance cost of complete machine.
Description of drawings
Accompanying drawing is the electronic differential systematic schematic diagram of container straddle carrier.
1. accelerator devices among the figure, 2. steering hardware, 3. brake gear, 4.PLC system, 5. frequency converter A, 6. drive motor A, 7. rotary encoder A, 8. left side wheel, 9. steering hardware A, 10. survey sensor A, 11. frequency converter B, 12. drive motor B, 13. rotary encoder B, 14. right side wheels, 15. steering hardware B, 16. survey sensor B, 17. touch-screens
The specific embodiment
When container straddle carrier turns to, at arbitrary steering angle, inside and outside wheel should rotate and do pure rolling to the center, this just requires the speed of inside and outside each wheel inconsistent, its cireular frequency that must guarantee the relative turning center of each wheel is identical, and the differential that linear velocity is directly proportional with the turn radius of each wheel relation.PLC system (4) is according to accelerator device (1), steering hardware (2), (3) three incoming signals of brake gear decide the voltage of its output, frequency signal, thereby regulate the running state of vehicle, and the feedback signal of rotary encoder A (the 7)/rotary encoder B (13) that go up to install by drive motor A (6)/drive motor B (12) detects the speed of travel of left side wheel (8)/right side wheels (14), detect the direction of travel of left side wheel (8)/right side wheels (14) by the feedback signal that is installed in survey sensor A (the 10)/survey sensor B (16) on steering hardware A (9)/steering hardware B (15), realize the two closed-loop vector control system of container straddle carrier electronic differential.Touch-screen (17) is the monitor vehicle motoring condition in real time, can revise setup parameter by it in case of necessity.
PLC system (4) follow according to the output signal of accelerator device (1) in real time to the left the driving frequency converter A (5) of wheel (8)/right side wheels (14)/frequency converter B (11) send correspondent voltage and frequency instruction, regulate the rotating speed of each wheel; When brake gear (3) sent rapidly brake signal, PLC system (4) cut off output control voltage and frequency immediately, forces vehicle to stop.

Claims (2)

1, a kind of straddle carrier electronic differential system is characterized in that: mainly be made of PLC system, accelerator device, steering hardware, brake gear, drive motor A/ drive motor B, rotary encoder A/ rotary encoder B, steering hardware A/ steering hardware B, left side wheel/right side wheels, survey sensor A/ survey sensor B etc.; Accelerator device, steering hardware, brake gear link to each other with the PLC system respectively; Rotary encoder A/ rotary encoder B is installed in respectively on the drive motor A/ drive motor B; Drive motor A/ drive motor B links to each other with left side wheel/right side wheels respectively, the drive wheels running; Survey sensor A/ survey sensor B is contained on the steering hardware A/ steering hardware B, is used for measuring steering angle.
2, straddle carrier electronic differential according to claim 1 system, it is characterized in that: be provided with the two closed-loop vector control modules of electronic differential in the described PLC system, the signal that this module is input to the PLC system according to accelerator device, steering hardware, brake gear is regulated voltage, the frequency signal of output.
CNU2008201113435U 2008-04-17 2008-04-17 Electron differential speed system of straddle carrier Expired - Fee Related CN201258021Y (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CNU2008201113435U CN201258021Y (en) 2008-04-17 2008-04-17 Electron differential speed system of straddle carrier

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CNU2008201113435U CN201258021Y (en) 2008-04-17 2008-04-17 Electron differential speed system of straddle carrier

Publications (1)

Publication Number Publication Date
CN201258021Y true CN201258021Y (en) 2009-06-17

Family

ID=40772253

Family Applications (1)

Application Number Title Priority Date Filing Date
CNU2008201113435U Expired - Fee Related CN201258021Y (en) 2008-04-17 2008-04-17 Electron differential speed system of straddle carrier

Country Status (1)

Country Link
CN (1) CN201258021Y (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103287258A (en) * 2012-02-23 2013-09-11 杨泰和 Multi-cvt drive system having epicycle gear set
CN104298238A (en) * 2014-09-16 2015-01-21 北京航天发射技术研究所 Moving emission platform bend walking differential control system and method
CN104298237A (en) * 2014-09-16 2015-01-21 北京航天发射技术研究所 Automatic bend walking control system and method for moving emission platform
CN110316246A (en) * 2019-07-18 2019-10-11 上海振华重工(集团)股份有限公司 A kind of straddle carrier electrical servo independent steering system and its control method

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103287258A (en) * 2012-02-23 2013-09-11 杨泰和 Multi-cvt drive system having epicycle gear set
CN109130847A (en) * 2012-02-23 2019-01-04 杨泰和 Has the multiple groups continuous variable speed drive system of cyclic train group
CN104298238A (en) * 2014-09-16 2015-01-21 北京航天发射技术研究所 Moving emission platform bend walking differential control system and method
CN104298237A (en) * 2014-09-16 2015-01-21 北京航天发射技术研究所 Automatic bend walking control system and method for moving emission platform
CN110316246A (en) * 2019-07-18 2019-10-11 上海振华重工(集团)股份有限公司 A kind of straddle carrier electrical servo independent steering system and its control method

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GR01 Patent grant
C14 Grant of patent or utility model
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20090617

Termination date: 20120417

C17 Cessation of patent right