Steering drive axle, automatic guided vehicle and control method based on steering drive axle
阅读说明：本技术 转向驱动桥、自动导引车及基于转向驱动桥的控制方法 (Steering drive axle, automatic guided vehicle and control method based on steering drive axle ) 是由 蔡虎 程喜臣 刘少欣 于 2019-10-25 设计创作，主要内容包括：本发明属于转向驱动桥领域,具体涉及一种转向驱动桥、自动引导车及基于转向驱动桥的控制方法。所述使用方法是将上述的转向驱动桥安装在导引车上,采用远端的液压控制系统控制转向驱动桥上的转向油缸的伸长或缩短,拉动相应的转向节臂运动,进而拉动相应的转向节旋转,实现导引车的自动转向功能。本发明的转向驱动桥使用了两套转向油缸,第一转向油缸驱动第一转向节旋转,第二转向油缸驱动第二转向节旋转；两个转向油缸工作时通过液压控制系统给定的伸长或缩短量运动,互不干涉；第一半轴/第二半轴的安装误差、磨损等引起的运转精度对第二半轴/第一半轴无影响。(The invention belongs to the field of steering drive axles, and particularly relates to a steering drive axle, an automatic guided vehicle and a control method based on the steering drive axle. The use method is that the steering drive axle is arranged on the guide vehicle, the remote hydraulic control system is adopted to control the extension or the shortening of the steering oil cylinder on the steering drive axle, the corresponding steering knuckle arm is pulled to move, and then the corresponding steering knuckle is pulled to rotate, so that the automatic steering function of the guide vehicle is realized. The steering drive axle of the invention uses two sets of steering oil cylinders, the first steering oil cylinder drives the first steering knuckle to rotate, and the second steering oil cylinder drives the second steering knuckle to rotate; when the two steering oil cylinders work, the two steering oil cylinders move by the given extension or shortening amount of the hydraulic control system without mutual interference; the running accuracy caused by mounting error, wear, etc. of the first half shaft/second half shaft has no influence on the second half shaft/first half shaft.)
1. A steer-drive axle, comprising:
the steering device comprises a first steering knuckle, a first angle encoder, a first steering knuckle arm, a first steering oil cylinder, a first displacement sensor, a second steering knuckle, a second angle encoder, a second steering knuckle arm, a second steering oil cylinder, a second displacement sensor and a steering drive axle housing;
the steering drive axle housing comprises a first half shaft, a differential and a second half shaft which are sequentially arranged;
the first steering knuckle and the first angle encoder are both arranged on the first half shaft, and the first steering knuckle is connected with the first angle encoder; the second steering knuckle and the second angle encoder are both arranged on the second half shaft, and the second steering knuckle is connected with the second angle encoder; the differential is arranged symmetrically between the two steering knuckles, between the two angle encoders and between the two suspension system mounting seats;
one end of the first steering knuckle arm is connected with the first steering knuckle, and the other end of the first steering knuckle arm is connected with the first steering oil cylinder; one end of the second steering knuckle arm is connected with the second steering knuckle, and the other end of the second steering knuckle arm is connected with the second steering oil cylinder;
the first steering oil cylinder is connected with the first half shaft, and the second steering oil cylinder is connected with the second half shaft;
the first displacement sensor is arranged on the first steering oil cylinder;
the second displacement sensor is arranged on the second steering oil cylinder.
2. The steer-drive axle according to claim 1, wherein said first steer cylinder is coupled to said first axle half by a knuckle bearing;
and the second steering oil cylinder is connected with the second half shaft through a joint bearing.
3. A steer-drive axle according to claim 1, wherein said first knuckle arm is connected to said first knuckle by a knuckle bearing;
the second knuckle arm is connected with the second knuckle through a knuckle bearing.
4. A steer-drive axle according to claim 1, wherein said first knuckle is connected to said first axle half by a kingpin;
the second knuckle is connected to the second axle shaft by a kingpin.
5. A control method based on a steering drive axle is characterized in that the steering drive axle according to any one of claims 1-4 is installed on a guide vehicle, a remote hydraulic control system is adopted to control the extension or the shortening of a steering oil cylinder on the steering drive axle, a corresponding steering knuckle arm is pulled to move, and then a corresponding steering knuckle is pulled to rotate, so that the automatic steering function of the guide vehicle is realized.
6. The steering drive axle-based control method according to claim 5, wherein the using method specifically comprises the following steps:
s1, mounting the steering drive axle on an automatic guided vehicle;
s2, inputting an Ackerman steering law calculation table containing the elongation, the corresponding steering angle, the difference between the real-time rotating angle and the target steering angle, the shortening and the corresponding steering angle into a remote hydraulic control system;
s3, on the first half shaft, the first steering oil cylinder extends or shortens according to a first target steering angle provided by the hydraulic control system, and pulls the first steering knuckle arm to move so as to drive the corresponding first steering knuckle to rotate;
s4, feeding back the first real-time extension/shortening of the first steering cylinder to the hydraulic control system in real time by the first displacement sensor; the first angle encoder feeds back a first real-time rotating angle of the first steering knuckle to the hydraulic control system in real time, and when the first real-time rotating angle rotates to the first target steering angle or an angle difference between the first real-time rotating angle and the first target steering angle is not larger than the difference value, the hydraulic control system controls the first steering oil cylinder to stop extending or shortening;
s5, repeating the same operation as S3-S4 on the second half shaft by using a second target steering angle provided by the hydraulic control system, and correspondingly obtaining a second real-time rotation angle; the steering function of the automatic guided vehicle is realized.
7. The steering drive axle-based control method according to claim 6, wherein the angular difference is calculated by the first angular encoder or the second angular encoder.
8. An automated guided vehicle, characterized in that it comprises a steer-drive axle according to any of claims 1 to 4, which is provided on a guided vehicle.
9. The automated guided vehicle of claim 8, wherein the steer-drive axle is a front axle or a rear axle of the automated guided vehicle.
10. The automated guided vehicle of claim 8, wherein the number of the steering drive axles is two, and the steering drive axles are respectively used as a front axle and a rear axle of the automated guided vehicle.
Technical Field
The invention belongs to the field of steering drive axles, and particularly relates to a steering drive axle, an automatic guided vehicle and a control method based on the steering drive axle.
Background
The automatic guided vehicle is widely applied to the industries of storage, logistics and the like. Compare transport tools such as traditional fork truck, automated guided vehicle has realized automatic operation, and work efficiency is high, has become indispensable component part of modernized enterprise gradually. The steering system is one of key systems on the automatic guided vehicle, and the reliability of the steering system directly influences the working performance of the automatic guided vehicle. When the automatic guided vehicle turns, the response is quick, the steering angle is controllable, the steering speed is controllable, and the steering is stable. At present, a steering system of the automatic guided vehicle is mostly matched with a polyurethane rubber wheel for use, and the applicability to severe environment is poor.
The steering systems of the prior common automatic guided vehicles have different structures, and no safe and reliable steering system special for the automatic guided vehicle is applied in a large scale. The steering of the steering wheel is applied to the automatic guided vehicle industry to a certain extent, but the steering wheel has poor road surface adaptability and load capacity, and meanwhile, the mechanism has high integration degree, is inconvenient to repair and has poor interchangeability.
Disclosure of Invention
In order to solve the problems, the invention provides a steering drive axle, an automatic guided vehicle and a control method based on the steering drive axle. The steering drive axle comprises two steering oil cylinders which work independently, are assembled and disassembled and do not interfere with each other, and the large-angle steering of a steering knuckle in the steering drive axle is realized by adjusting the extension and shortening of the steering oil cylinders.
The invention is realized by the following technical scheme:
a steer-drive axle, comprising:
the device comprises a first steering knuckle, a first angle encoder, a first suspension system mounting seat, a first steering knuckle arm, a first steering oil cylinder, a first displacement sensor, a second steering knuckle, a second angle encoder, a second suspension system mounting seat, a second steering knuckle arm, a second steering oil cylinder and a second displacement sensor;
the driving motor is used for providing power;
a speed reducer;
a steering drive axle housing;
the steering drive axle housing comprises a first half shaft, a differential and a second half shaft which are sequentially arranged;
the first steering knuckle, the first angle encoder and the first suspension system mounting seat are sequentially arranged on the first half shaft, and the first steering knuckle is connected with the first angle encoder;
the second steering knuckle, the second angle encoder and the second suspension system mounting seat are sequentially arranged on the second half shaft, and the second steering knuckle is connected with the second angle encoder;
the differential is arranged symmetrically between the two steering knuckles, between the two angle encoders and between the two suspension system mounting seats;
one end of the first steering knuckle arm is connected with the first steering knuckle, and the other end of the first steering knuckle arm is connected with the first steering oil cylinder;
one end of the second steering knuckle arm is connected with the second steering knuckle, and the other end of the second steering knuckle arm is connected with the second steering oil cylinder;
the first steering oil cylinder and the second steering oil cylinder are respectively connected with the first half shaft and the second half shaft;
the first displacement sensor is arranged on the first steering oil cylinder;
the second displacement sensor is arranged on the second steering oil cylinder;
the driving motor, the speed reducer and the differential are sequentially connected, and the speed reducer transmits power provided by the driving motor to the differential and the two half shafts after reducing and increasing torque.
Further, the first steering oil cylinder is connected with the first half shaft through a joint bearing.
Furthermore, the second steering oil cylinder is connected with the second half shaft through a joint bearing.
Further, the first knuckle arm is connected with the first knuckle by a knuckle bearing.
Further, the second knuckle arm is connected with the second knuckle by a knuckle bearing.
Further, the first steering knuckle is connected to the first axle half by a kingpin.
Further, the second knuckle is connected to the second axle shaft by a kingpin.
Furthermore, the steering drive axle is matched with tires, leaf springs and the like, so that the steering drive axle is high in bearing capacity and good in adaptability to severe environments.
The other purpose of the invention is to provide a control method based on a steering drive axle, wherein the use method is to install the steering drive axle on a guided vehicle, adopt a remote hydraulic control system to control the extension or the shortening of a steering oil cylinder on the steering drive axle, pull a corresponding steering knuckle arm to move, further pull a corresponding steering knuckle to rotate, and realize the automatic steering function of the guided vehicle.
Further, the use method specifically comprises the following steps:
s1, mounting the steering drive axle on an automatic guided vehicle;
s2, inputting an Ackerman steering law calculation table containing the elongation, the corresponding steering angle, the difference between the real-time rotating angle and the target steering angle, the shortening and the corresponding steering angle into a remote hydraulic control system;
s3, on the first half shaft, the first steering oil cylinder extends or shortens according to a first target steering angle provided by the hydraulic control system, and pulls the first steering knuckle arm to move so as to drive the corresponding first steering knuckle to rotate;
s4, feeding back the first real-time extension/shortening of the first steering cylinder to the hydraulic control system in real time by the first displacement sensor; the first angle encoder feeds back a first real-time rotating angle of the first steering knuckle to the hydraulic control system in real time, and when the first real-time rotating angle rotates to the first target steering angle or an angle difference between the first real-time rotating angle and the first target steering angle is not larger than the difference value, the hydraulic control system controls the first steering oil cylinder to stop extending or shortening;
s5, repeating the same operation as S3-S4 on the second half shaft by using a second target steering angle provided by the hydraulic control system, and correspondingly obtaining a second real-time rotation angle; the steering function of the automatic guided vehicle is realized.
Further, the difference value needs to be calculated and determined according to Ackerman steering law.
Further, the angular difference is calculated by the first angular encoder or the second angular encoder.
Further, the control of the first real-time elongation/shortening and the first real-time rotation angle is closed-loop control; the control of the second real-time elongation/contraction and the second real-time rotation angle is also closed-loop control.
Further, the closed-loop control can enable displacement elongation of the linear displacement sensor and the angle value of the angle sensor to be mutually verified, and the inner and outer rotating angles are guaranteed to reach the designated value.
Further, according to the structure of the steering drive axle, the first real-time elongation/shortening amount and the first real-time rotation angle are in a linear relationship, and the second real-time elongation/shortening amount and the second real-time rotation angle are also in a linear relationship.
Further, when the automatic guided vehicle steers, according to the steering drive axle structure and the ackermann kinematics model, the extension or shortening of the first steering cylinder and the second steering cylinder is in a linear relationship.
It is a further object of the present invention to provide an automated guided vehicle including the above-mentioned steering drive axle disposed on a guided vehicle.
Furthermore, the steering drive axle is used as a front axle or a rear axle of the automatic guided vehicle, and the transportability is strong.
Furthermore, the number of the steering drive axles is two, and the steering drive axles are respectively used as a front axle and a rear axle of the automatic guided vehicle.
The invention has the following beneficial technical effects:
(1) the steering drive axle of the invention uses two sets of steering oil cylinders, the first steering oil cylinder drives the first steering knuckle to rotate, and the second steering oil cylinder drives the second steering knuckle to rotate; when the two steering oil cylinders work, the two steering oil cylinders move by the given extension or shortening amount of the hydraulic control system without mutual interference; the running accuracy caused by mounting error, wear, etc. of the first half shaft/second half shaft has no influence on the second half shaft/first half shaft.
(2) The steering drive axle of the invention realizes the large-angle steering of the steering knuckle by adjusting the extension and shortening of the steering oil cylinder.
(3) The steering drive axle is stable in structure and good in interchangeability. When the tire and the steel plate spring are combined for use, the bearing capacity is strong, and the adaptability to the environment such as the road surface is good.
(4) The structure of the steering drive axle can be used as a front axle or a rear axle of the automatic guided vehicle, and the transportability is strong.
(5) The steering drive axle uses the hydraulic oil cylinder as a power source for driving, the steering is stable and reliable, and the steering energy can realize large-angle rotation.
(6) The steering drive axle of the invention uses the displacement sensor and the angle encoder to carry out real-time closed-loop control on the automatic guided vehicle, and has higher control precision.
Drawings
Fig. 1 is a schematic front view of a steering drive axle according to an embodiment of the present invention.
Fig. 2 is a schematic top view of a steering drive axle according to an embodiment of the present invention.
Fig. 3 is a schematic flow chart of a control method based on a steering drive axle according to an embodiment of the present invention.
Description of reference numerals: 1-a first steering knuckle; 2-a first angle encoder; 3-a first suspension system mount; 4-driving the motor; 5, a speed reducer; 6-steering drive axle housing, 61-first axle shaft, 62-differential, 63-second axle shaft; 7-a second suspension system mount; 8-a second angular encoder; 9-a second knuckle; 10-a second knuckle arm; 11-a second steering cylinder; 12-a second displacement sensor; 13-a first displacement sensor; 14-a first steering cylinder; 15-first track arm.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
On the contrary, the invention is intended to cover alternatives, modifications, and equivalents, which may be included within the spirit and scope of the invention as defined by the appended claims. Furthermore, in the following detailed description of the present invention, certain specific details are set forth in order to provide a better understanding of the present invention. It will be apparent to one skilled in the art that the present invention may be practiced without these specific details.
It should be understood that the described embodiments are only some embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the examples of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
Referring to fig. 1, the present embodiment provides a steering drive axle including:
the device comprises a first steering knuckle 1, a
the driving motor 4 is used for providing power;
a
a steering drive axle housing 6;
the steering drive axle housing 6 comprises a
the first steering knuckle 1, the
the second steering knuckle 9, the
the differential 62 is arranged symmetrically between the two steering knuckles, between the two angle encoders and between the two suspension system mounting seats;
one end of the
one end of the second
the
the first displacement sensor 13 is arranged on the
the
the driving motor 4, the
In the present embodiment, the
In the present exemplary embodiment, the
Further, the
In the present embodiment, the
In the present exemplary embodiment, the first steering knuckle 1 is connected to the
In the present embodiment, the second knuckle 9 is connected to the
In this embodiment, the steering drive axle is used in cooperation with tires, leaf springs and the like, and has strong bearing capacity and good adaptability to severe environments.
In this embodiment, a control method based on a steering drive axle is further provided, where the steering drive axle is mounted on a guided vehicle, and a remote hydraulic control system is used to control extension or contraction of a steering cylinder on the steering drive axle, pull a corresponding knuckle arm to move, and further pull a corresponding knuckle to rotate, so as to implement an automatic steering function of the guided vehicle.
In this embodiment, the using method specifically includes the following steps:
s1, mounting the steering drive axle on an automatic guided vehicle;
s2, inputting an Ackerman steering law calculation table containing the elongation, the corresponding steering angle, the difference between the real-time rotating angle and the target steering angle, the shortening and the corresponding steering angle into a remote hydraulic control system;
s3, on the
s4, the first displacement sensor 13 feeds back the first real-time elongation/shortening of the
s5, repeating the same operations from S3 to S4 on the
In this embodiment, the difference value is calculated and determined according to ackermann's steering law.
In the present embodiment, the angular difference is calculated by the first
In this embodiment, the control of the first real-time elongation/contraction amount and the first real-time rotation angle is closed-loop control; the control of the second real-time elongation/contraction and the second real-time rotation angle is also closed-loop control.
In this embodiment, the closed-loop control may mutually verify the displacement elongation of the linear displacement sensor and the angle value of the angle sensor, and ensure that the inner and outer rotation angles reach the specified values.
In this embodiment, according to the structure of the steer-drive axle, the first real-time elongation/shortening amount and the first real-time rotation angle are in a linear relationship, and the second real-time elongation/shortening amount and the second real-time rotation angle are also in a linear relationship.
In this embodiment, when the automated guided vehicle is steered, the extension or shortening of the
In other embodiments, an automated guided vehicle is provided that includes the steer-drive axle of the present embodiment disposed on a lead vehicle.
In other embodiments, the steering drive axle is used as a front axle or a rear axle of the automatic guided vehicle, and the transportability is strong.
In other embodiments, the number of the steering drive axles is two, and the steering drive axles are respectively used as a front axle and a rear axle of the automatic guided vehicle.
The steering drive axle, the automatic guided vehicle and the control method based on the steering drive axle provided by the embodiment of the invention are described in detail above. The above description of the embodiments is only intended to facilitate the understanding of the method of the invention and its core ideas; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
As used in the specification and claims, certain terms are used to refer to particular components. As one skilled in the art will appreciate, manufacturers may refer to a component by different names. This specification and claims do not intend to distinguish between components that differ in name but not function. In the following description and in the claims, the terms "include" and "comprise" are used in an open-ended fashion, and thus should be interpreted to mean "include, but not limited to. "substantially" means within an acceptable error range, and a person skilled in the art can solve the technical problem within a certain error range to substantially achieve the technical effect. The following description is of the preferred embodiment for carrying out the invention, and is made for the purpose of illustrating the general principles of the invention and not for the purpose of limiting the scope of the invention. The scope of the present invention is defined by the appended claims.
It is also noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a good or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such good or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a commodity or system that includes the element.
It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
The foregoing description shows and describes several preferred embodiments of the invention, but as aforementioned, it is to be understood that the invention is not limited to the forms disclosed herein, but is not to be construed as excluding other embodiments and is capable of use in various other combinations, modifications, and environments and is capable of changes within the scope of the inventive concept as expressed herein, commensurate with the above teachings, or the skill or knowledge of the relevant art. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.
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