WO2021136248A1

WO2021136248A1 - Heavy-loaded steering wheel system

Info

Publication number: WO2021136248A1
Application number: PCT/CN2020/140728
Authority: WO
Inventors: 王路阔; 刘宁; 丛乾宇; 张永杰; 叶超; 翟国涛; 谷青明; 曹子建
Original assignee: 江苏金陵智造研究院有限公司; 南京晨光集团有限责任公司
Priority date: 2019-12-30
Filing date: 2020-12-29
Publication date: 2021-07-08
Also published as: CN111645508A

Abstract

Disclosed is a heavy-loaded steering wheel system, consisting of a servo driver (1), a steering wheel body and a servo cable, wherein the steering wheel body mainly consists of a driving unit and a steering unit; the driving unit comprises a driving electric motor (2), a precision planetary speed reducer (13) for driving, a precision planetary speed reducer (7) used in an axial direction, a brake (4), and a polyurethane wheel (5); the steering unit comprises a steering electric motor (6), a primary gear reducer and a limiting switch (10); the servo driver (1) is respectively connected to the driving electric motor (2), the steering electric motor (6), a driving encoder, a steering encoder and the limiting switch (10), is in the form of "one-driving-two", and integrates the functions of driving and steering. The system has a high bearing capacity, a compact structure, a good reliability, a high control precision, low noise and a long service life.

Description

A heavy-duty steering wheel system

Technical field

The invention belongs to the technical field of mobile robots, in particular to a heavy-duty steering wheel system.

Background technique

With the development of the times, automated handling is penetrating into various industries. As its core equipment, AGV (Automatic Guided Transport Vehicle) technology is also constantly developing. In the context of increasingly stringent transportation requirements for large equipment and products, the structure and carrying requirements of AGVs have also changed. In some places such as heavy machinery factories, railway transportation, special industries, ports and airports, large voltage transformer factories, and heavy automobile manufacturers, there is a high demand for the processing, manufacturing, and handling of large objects, which requires the use of large sizes. , Heavy-duty AGV featuring high load-bearing capacity.

However, the research and development of heavy-duty AGVs is more technically difficult. Not only is the structure different from that of light-duty AGVs, but the standards for parts purchase are also different. Therefore, compared with ordinary AGVs, enterprises have a higher threshold for R&D and production of heavy-duty AGVs. At present, the products provided by most companies are still mainly light-load AGVs, which do not have high-load capacity.

Summary of the invention

The purpose of the present invention is to provide a heavy-duty steering wheel system, which has strong bearing capacity, compact structure, good reliability, high control accuracy, low noise and long service life.

The technical solution to achieve the purpose of the present invention is: a heavy-duty steering wheel system, including a servo driver, a drive motor, a steering motor, a planetary reducer for driving, a planetary reducer for steering, a slewing ring, a steering pinion, a brake, and a drive An encoder, a steering encoder, a limit switch and a polyurethane wheel, the servo driver is respectively connected with the drive motor, the steering motor, the drive encoder, the steering encoder, and the limit switch;

The drive encoder and brake are installed on the drive motor, and the drive motor is connected to the planetary reducer for driving through a key; the planetary reducer for driving is connected to the polyurethane wheel, and is installed and fixed by threaded connectors; the shaft end of the drive motor is connected to the brake;

The steering encoder is installed on the steering motor. The output shaft of the steering motor is connected to the planetary reducer for steering, and the planetary reducer for steering is connected to the mounting plate through the steering motor adapter plate. The output shaft is equipped with a steering pinion through the baffle, and the steering is small. The gear and the slewing support constitute a first-stage gear reducer, which is arranged on the top of the steering wheel body, and the slewing support is connected to the mounting plate;

A pair of limit switches are arranged on the mounting plate, located on both sides of the steering pinion. A limit block is installed on the slewing bearing, and the mechanical limit of the steering mechanism of the steering wheel is realized through the limit block and limit switch; the steering encoder cable is used for Record the multi-turn value of the steering mechanism; the output shaft of the drive motor is parallel to the mounting plate, and the output shaft of the steering motor is perpendicular to the output shaft of the mounting plate and the drive motor at the same time.

Compared with the prior art, the present invention has significant advantages as follows: (1) The traction load capacity of a single system can reach more than 8T, and at the same time it has a maximum steering capability of 130°; (2) The steering wheel body is composed of a driving mechanism and a steering mechanism. The drive mechanism can be used as a whole, which can realize rapid replacement between different machines and facilitate maintenance; (3) The servo drive and the steering wheel body are integrated system architecture, which improves the debugging problems caused by the mismatch between the traditional drive and the steering wheel body. The user provides the greatest ease of use; (4) The cable adopts drag chain shielded cable, which has strong anti-bending ability, and is equipped with a wire clip, which is perfect for cable protection; (5) The steering wheel system adopts a precision planetary reducer with low noise; (6) The system has protection functions for overvoltage, overcurrent, limit, abnormal feedback and other faults, making it safer and more reliable.

Description of the drawings

Figure 1 is a cable connection diagram of a heavy-duty steering wheel system.

Figure 2 is a schematic structural diagram of a heavy-duty steering wheel system.

Fig. 3 is a structural cross-sectional view of a heavy-duty steering wheel system.

Detailed ways

As shown in Figure 1, Figure 2, and Figure 3, a heavy-duty steering wheel system includes a servo driver 1, a drive motor 2, a steering motor 6, a driving planetary reducer 3, a steering planetary reducer 7, and a slewing ring 9 , Steering pinion 8, brake 4, limit switch 10, and polyurethane wheel 5. The servo driver 1 is connected to the drive motor 2, the steering motor 6, the drive encoder, the steering encoder, and the limit switch 10, respectively.

The driving encoder and the brake 4 are installed on the driving motor 2. The driving motor 2 is connected to the planetary reducer 3 for driving through the key; the planetary reducer 3 for driving is connected to the polyurethane wheel 5, and is installed and fixed by threaded connectors; the two parts of the reducer 3 The side is protected by a side plate, the top is provided with a top block, which is connected with the mounting plate; the shaft end of the driving motor 2 is connected with the brake 4.

The steering encoder is installed on the steering motor 6. The output shaft of the steering motor 6 is connected to the planetary reducer 7 for steering. The reducer 7 is connected to the mounting plate through the steering motor 6 adapter plate, and the output shaft of the steering motor 6 is connected to the mounting plate. The pinion 8, the steering pinion 8 and the slewing support 9 constitute a first-stage gear reducer, which is arranged on the top of the steering wheel body, and the slewing support 9 is connected to the mounting plate.

A pair of limit switches 10 are arranged on the mounting plate and located on both sides of the steering pinion. A limit block is installed on the slewing support 9. The limit block and limit switch 10 are used to realize the mechanical limit of the steering wheel steering mechanism. The steering encoder is used to record the multi-turn value of the steering mechanism. The output shaft of the driving motor 2 is parallel to the mounting plate, and the output shaft of the steering motor 6 is perpendicular to the mounting plate and the output shaft of the driving motor 2 at the same time.

Further, a pin connection is adopted between the precision planetary reducer 3 for driving and the polyurethane wheel 5.

Further, the steering encoder cable is provided with a multi-turn power supply battery, and is fixed on the cable by a battery box.

The present invention will be described in detail below in conjunction with embodiments and drawings.

Example

A heavy-duty steering wheel system is composed of a servo driver, a steering wheel body and a servo cable. Among them, the steering wheel body is mainly composed of a drive unit and a steering unit. The drive unit includes a drive motor, a precision planetary reducer for driving, a brake and a polyurethane wheel. The steering unit includes a steering motor, a first-stage gear reduction mechanism, a precision planetary reducer for steering, Limit switch and auxiliary parts. The driver is in the form of one for two, integrated with driving and steering functions.

For the drive mechanism, a drive encoder is installed at the tail of the drive motor, the drive motor is connected to a precision planetary reducer for driving, the shaft end is connected to a brake, and a polyurethane wheel is installed outside the precision planetary reducer for driving. For the steering mechanism, the mounting plate is connected to the top block, and is provided with two limit switches and two saddle-shaped strap fixing seats; in the first-stage gear reduction mechanism, the slewing bearing is connected to the mounting plate, and the steering motor is connected to the precision planetary speed reducer for steering The output shaft is connected with the steering pinion gear meshing with the slewing bearing.

Combined with Figure 1, Figure 2 and Figure 3, the heavy-duty steering wheel system includes a servo driver 1, a drive motor 2, a steering motor 6, a precision planetary reducer for driving 3, a precision planetary reducer for steering 7, a slewing ring 9, and a steering wheel. Gear 8, brake 4, limit switch 10 and polyurethane wheel 5. The servo driver 1 is connected to the power line of the drive motor 2, the drive encoder, the power line of the steering motor 6, the steering encoder, and the limit switch 10 respectively.

The driving encoder and brake 4 are installed on the driving motor 2. The driving motor 2 is connected with the precision planetary reducer 3 for driving through a key; the precision planetary reducer 3 for driving and the polyurethane wheel 5 are connected by a pin, and they are installed and fixed by threaded connectors. ; The two sides of the reducer are protected by side plates, and the top is provided with a top block, which is connected to the mounting plate; the shaft end of the drive motor 2 is connected to the brake 4.

The steering encoder is installed on the steering motor 6. The output shaft of the steering motor 6 is connected to the precision planetary reducer 7 for steering. The reducer 7 is connected to the mounting plate through the steering motor 6 adapter plate, and the output shaft is installed through the baffle. The steering pinion 8, the steering pinion 8 and the slewing support 9 constitute a first-stage gear reducer and are arranged on the top of the steering wheel body.

A pair of limit switches 10 are arranged on the mounting plate and located on both sides of the steering pinion. A limit block is installed on the slewing support 9. The limit block and limit switch 10 are used to realize the mechanical limit of the steering wheel steering mechanism. The steering encoder cable is provided with a multi-turn power supply battery, and the battery box is fixed on the cable to record the multi-turn value of the steering mechanism. The output shaft of the driving motor 2 is parallel to the mounting plate, and the output shaft of the steering motor 6 is perpendicular to the mounting plate and the output shaft of the driving motor 2 at the same time.

The servo driver 1 of the present invention is a "one-drive-two control mode", and one driver 1 realizes the control of the driving system and the steering system at the same time, and realizes the integration and miniaturization of the driving system. The PCB board of servo driver 1 has been treated with three preventions to ensure the insulation, moisture-proof, dust-proof, and anti-aging of the driver 1.

The servo driver 1 of the present invention includes the control of the driving function and the steering function. The control of the driving function refers to: when the servo driver 1 receives the driving speed command from the upper-level controller, the driving motor 2 runs, and drives the polyurethane wheel 5 to rotate through the driving precision planetary reducer 3, and at the same time drives the encoder in real time The magnetic pole position of the motor is fed back, and the PID operation is performed after comparing with the command to realize two-loop closed-loop control. When encountering an emergency or needing to stop, the brake 4 is used to realize the power-off braking of the steering wheel system.

When the driver 1 receives the steering position command issued by the upper-level controller, the steering motor 6 runs and drives the steering wheel to steer through the first-stage gear reducer. The steering encoder feedbacks the motor magnetic pole position in real time, and performs PID calculation after comparing with the command to achieve full Three-loop closed-loop control. When the abnormal position of the steering is too large, it is protected by the limit switch 10, and at the same time, the driving function and the steering function can be reset to ensure the safety of the steering wheel system.

The above are only specific implementations of the present invention. Any modification, equivalent replacement, improvement, etc. made within the technical ideas and principles of the present invention should be included in the protection scope of the present invention.

Claims

A heavy-duty steering wheel system, characterized in that it includes a servo drive (1), a drive motor (2), a steering motor (6), a planetary reducer for driving (3), a planetary reducer for steering (7), and a rotary Support (9), steering pinion (8), brake (4), drive encoder, steering encoder, limit switch (10) and polyurethane wheel (5), the servo driver (1) is respectively connected to the drive motor ( 2), the steering motor (6), drive encoder, steering encoder, limit switch (10) connection;

The drive encoder and brake (4) are installed on the drive motor (2), and the drive motor (2) is connected to the planetary reducer (3) for driving through a key; the planetary reducer for driving (3) is connected to the polyurethane wheel (5), and Install and fix by screw connection; the shaft end of the drive motor (2) is connected with the brake (4);

The steering encoder is installed on the steering motor (6), the output shaft of the steering motor (6) is connected to the planetary reducer for steering (7), and the planetary reducer for steering (7) is connected to the installation through the steering motor (6) adapter plate Plate, the output shaft of which is installed with steering pinion (8) through the baffle, the steering pinion (8) and the slewing support (9) constitute a first-stage gear reducer, which is arranged on the top of the steering wheel body, and the slewing support (9) is connected to the mounting plate ；

A pair of limit switches (10) are arranged on the mounting plate, located on both sides of the steering pinion (8). A limit block is installed on the slewing bearing (9), and the steering wheel is turned by the limit block and limit switch (10) The mechanical limit of the mechanism; the steering encoder cable is used to record the multi-turn value of the steering mechanism; the output shaft of the drive motor (2) is parallel to the mounting plate, and the output shaft of the steering motor (6) is simultaneously with the mounting plate and the drive motor ( 2) The output shaft is vertical.
The heavy-duty steering wheel system according to claim 1, characterized in that the two sides of the driving planetary reducer (3) are protected by side plates, and a top block is provided on the top, which is connected with the mounting plate.
The heavy-duty steering wheel system according to claim 1 or 2, wherein the driving planetary reducer (3) and the polyurethane wheel (5) are connected by a pin.
The heavy-duty steering wheel system according to claim 1, wherein the steering encoder cable is provided with a multi-turn power supply battery, and the battery box is fixed on the cable.