阅读说明：本技术 一种智能伺服负载驱动平台 (Intelligent servo load driving platform ) 是由 沈四海 沈军 于 2021-11-03 设计创作，主要内容包括：本发明公开了一种智能伺服负载驱动平台,包括驱动桥总成与伺服电机,伺服电机的轴伸端与驱动桥总成的驱动桥减速器相连接,驱动桥总成的两端分别固定安装在一个钢板弹簧上,钢板弹簧的两端安装于负载支架上；本发明整合了机械和电器控制部分使之形成一个单一的模块化布局机构,便于整车直接适配和安装,避免因主机适配的人为技术水平和适配部件性能差异而导致零部件的过载损坏,提高车辆的稳定性保证使用性能和可靠性,本发明还通过对采集的转速信息进行合理处理,能够提升驱动平台在运转过程中的安全性。(The invention discloses an intelligent servo load driving platform, which comprises a drive axle assembly and a servo motor, wherein the shaft extension end of the servo motor is connected with a drive axle reducer of the drive axle assembly, two ends of the drive axle assembly are respectively and fixedly arranged on a steel plate spring, and two ends of the steel plate spring are arranged on a load bracket; the invention integrates mechanical and electrical control parts to form a single modularized layout mechanism, is convenient for direct adaptation and installation of the whole vehicle, avoids overload damage of parts caused by man-made technical level of host adaptation and performance difference of adaptation parts, improves the stability of the vehicle, ensures the service performance and reliability, and can improve the safety of a driving platform in the operation process by reasonably processing the acquired rotating speed information.)

1. An intelligent servo load driving platform comprises a drive axle assembly (3) and a servo motor (4), wherein the shaft extension end of the servo motor (4) is connected with a drive axle reducer of the drive axle assembly (3), and is characterized in that two ends of the drive axle assembly (3) are respectively and fixedly installed on a steel plate spring (2), and two ends of the steel plate spring (2) are installed on a load support (1);

one end of the steel plate spring (2) is hinged with the load support (1), and the other end of the steel plate spring (2) is rotatably arranged on the load support (1);

the drive axle assembly (3) is arranged on one surface of the steel plate spring (2), a supporting plate (91) is arranged on the other surface of the steel plate spring (2), the U-shaped part (9) is sleeved on the drive axle assembly (3), and two ends of the U-shaped part (9) are fixedly locked on the supporting plate (91) through bolts;

the servo motor (4) is in communication connection with the servo controller (5), and the servo controller (5) is used for controlling the rotating speed of the servo motor (4);

a millimeter wave radar (6) is fixedly mounted on the load support (1) or the drive axle assembly (3), and the millimeter wave radar (6) is used for detecting the distance between the load support (1) and an obstacle in real time and transmitting distance information to the servo controller (5);

fixed mounting has speed sensor (7) on the wheel hub of transaxle assembly (3) and on servo motor (4), and speed sensor (7) are used for gathering the rotational speed information of transaxle assembly (3) to transmit the rotational speed information of gathering to servo controller (5), servo controller (5) convert rotational speed information into the linear motion speed information of transaxle assembly (3).

2. The intelligent servo load driving platform as claimed in claim 1, wherein a limiting block (31) is disposed at two ends of the drive axle assembly (3), two U-shaped members (9) are disposed at one end of the drive axle assembly (3), and the two U-shaped members (9) are disposed at two sides of the limiting block (31), respectively.

3. The intelligent servo load driving platform as claimed in claim 1, wherein a thermal sensor (8) is further fixedly mounted on the servo motor (4) and the drive axle assembly (3), the thermal sensor (8) is used for detecting the working temperatures of the servo motor (4) and the drive axle assembly (3), and when the working temperatures of the servo motor (4) and the drive axle assembly (3) reach a set threshold value, the alarm sends alarm information.

4. The intelligent servo load driving platform according to claim 3,the device is characterized in that rotating speed sensors (7) arranged on a wheel hub of a drive axle assembly (3) and a servo motor (4) respectively acquire rotating speed information, and the rotating speeds acquired by the two rotating speed sensors (7) are A respectively₁、A₂When (A)₁-A₂)/A_iWhen the value of the alarm is greater than or equal to the preset value A, i is 1 or 2, the alarm sends alarm information and automatically stops;

when (A)₁-A₂)/A_iWhen the value of A is less than A, the collected rotating speed information is considered to have no problem, and the servo controller (5) adopts the rotating speed information collected by any rotating speed sensor (7) to perform data processing.

5. The intelligent servo load driving platform as claimed in claim 4, wherein (A) is₁-A₂)/A_iWhen the value of (A) is less than A, the average value of the rotating speeds acquired by the two rotating speed sensors (7) is adopted for subsequent data processing.

6. The intelligent servo load driving platform as claimed in claim 5, wherein the servo controller (5) can calculate the moving speed of the obstacle in the moving direction of the driving platform according to the self-running speed and the distance change between the obstacle and the driving platform within a period of time, and adjust the rotating speed of the servo motor (4) according to the moving speed of the obstacle, the moving speed of the driving platform and the distance between the obstacle and the driving platform, so as to control the distance between the driving platform and the obstacle to be larger than a preset value B.

Technical Field

The invention belongs to the technical field of drive axles, and particularly relates to an intelligent servo load driving platform.

Background

The drive axle is an important component of an industrial vehicle and is positioned at the tail end of a vehicle transmission system; the basic function is to reduce the rotating speed and increase the torque of the engine transmitted by the universal transmission device through the main reducer; changing the transmission direction of the torque through the bevel gear pair; transmitting power to wheels through a half shaft to push the vehicle to advance;

in the load driving platform in the prior art, the integration degree of a driving axle and other structures is not high, the installation and assembly are complex in the actual use process, and the intelligent operation and working state monitoring of the driving axle are not precise and accurate enough.

Disclosure of Invention

The invention aims to provide an intelligent servo load driving platform, which solves the problems of low intelligent degree and low integration degree of a load driving platform in the prior art.

The purpose of the invention can be realized by the following technical scheme:

an intelligent servo load driving platform comprises a drive axle assembly and a servo motor, wherein a shaft extension end of the servo motor is connected with a drive axle reducer of the drive axle assembly, two ends of the drive axle assembly are respectively and fixedly arranged on a steel plate spring, and two ends of the steel plate spring are arranged on a load support;

one end of the steel plate spring is hinged with the load support, and the other end of the steel plate spring is rotatably arranged on the load support;

the drive axle assembly is arranged on one surface of the steel plate spring, a supporting plate is arranged on the other surface of the steel plate spring, the U-shaped piece is sleeved on the drive axle assembly, and two ends of the U-shaped piece are fixedly locked on the supporting plate through bolts;

the servo motor is in communication connection with the servo controller, and the servo controller is used for controlling the rotating speed of the servo motor;

a millimeter wave radar is fixedly arranged on the load support or the drive axle assembly and used for detecting the distance between the load support and the obstacle in real time and transmitting the distance information to the servo controller;

the hub of the drive axle assembly and the servo motor are fixedly provided with a rotating speed sensor, the rotating speed sensor is used for acquiring rotating speed information of the drive axle assembly and transmitting the acquired rotating speed information to the servo controller, and the servo controller converts the rotating speed information into linear motion speed information of the drive axle assembly.

As a further scheme of the invention, two ends of the drive axle assembly are provided with the limiting clamping blocks, one end of the drive axle assembly is provided with two U-shaped pieces, and the two U-shaped pieces are respectively arranged at two sides of the limiting clamping blocks.

As a further scheme of the invention, a thermosensitive sensor is fixedly arranged on the servo motor and the drive axle assembly and used for detecting the working temperature of the servo motor and the drive axle assembly, and when the working temperature of the servo motor and the drive axle assembly reaches a set threshold value, an alarm sends alarm information.

As a further scheme of the invention, the rotating speed sensors arranged on the hub of the drive axle assembly and the servo motor respectively acquire rotating speed information, and the rotating speeds acquired by the two rotating speed sensors are assumed to be A respectively₁、A₂When (A)₁-A₂)/A_iWhen the value of the alarm is greater than or equal to the preset value A, i is 1 or 2, the alarm sends alarm information and automatically stops;

when (A)₁-A₂)/A_iWhen the value of A is less than A, the collected rotating speed information is considered to have no problem, and the servo controller adopts the rotating speed information collected by any rotating speed sensor to perform data processing.

As a further aspect of the present invention, when (A)₁-A₂)/A_iWhen the value of (A) is less than A, the average value of the rotating speeds acquired by the two rotating speed sensors is adopted for subsequent data processing.

As a further scheme of the invention, the servo controller can calculate the movement speed of the obstacle in the movement direction of the driving platform according to the self-operation speed and the distance change between the servo controller and the obstacle within a period of time, and adjust the rotating speed of the servo motor according to the movement speed of the obstacle, the movement speed of the driving platform and the distance between the obstacle and the driving platform, so that the distance between the driving platform and the obstacle is controlled to be larger than a preset value B.

The invention has the beneficial effects that:

(1) the invention integrates the mechanical and electrical control parts to form a single modularized layout mechanism, which is convenient for direct adaptation and installation of the whole vehicle, avoids overload damage of parts caused by artificial technical level of host adaptation and performance difference of adaptation parts, improves the stability of the vehicle and ensures the service performance and reliability;

(2) the driving platform integrates real-time monitoring equipment components such as a millimeter wave radar, a rotation speed sensor, a heat-sensitive sensor and the like, can monitor information such as the speed, the stroke, the rotation speed displacement, the temperature of a moving part and the like of the equipment in real time, basically meets the basic signal acquisition requirement required by intelligent control, and can realize the speed monitoring, the real-time positioning, the intelligent anti-collision early warning, the active braking and the full life cycle monitoring of vehicles and equipment by acquiring information through signals;

(3) according to the invention, the acquired rotating speed information is reasonably processed, so that the safety of the driving platform in the operation process can be improved.

Drawings

The invention will be further described with reference to the accompanying drawings.

FIG. 1 is a schematic structural diagram of an intelligent servo load driving platform according to the present invention;

FIG. 2 is an exploded view of an intelligent servo load driven platform of the present invention;

in the figure: 1. a load support; 2. a leaf spring; 3. a drive axle assembly; 4. a servo motor; 5. a servo controller; 6. a millimeter wave radar; 7. a rotational speed sensor; 8. a heat-sensitive sensor; 9. a U-shaped piece; 31. a limiting clamping block; 91. and (7) a supporting plate.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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.

An intelligent servo load driving platform is shown in figure 1 and comprises a drive axle assembly 3 and a servo motor 4, wherein the shaft extension end of the servo motor 4 is connected with a drive axle reducer of the drive axle assembly 3, wheel hubs at two ends of the drive axle assembly 3 are provided with tires for realizing load and drive, two ends of the drive axle assembly 3 are respectively and fixedly arranged on a steel plate spring 2, and two ends of the steel plate spring 2 are arranged on a load support 1;

specifically, one end of a steel plate spring 2 is hinged with a load support 1, and the other end of the steel plate spring 2 is rotatably arranged on the load support 1;

in one embodiment of the invention, the two ends of the drive axle assembly 3 are provided with the limiting fixture blocks 31, the drive axle assembly 3 is arranged on one surface of the steel plate spring 2, the other surface of the steel plate spring 2 is provided with the supporting plate 91, when the drive axle assembly is fixed, the U-shaped part 9 is sleeved on the drive axle assembly 3, and the two ends of the U-shaped part 9 are fixedly locked on the supporting plate 91 through bolts, so that the drive axle assembly 3 and the steel plate spring 2 are locked and fixed;

preferably, one end of the drive axle assembly 3 is provided with two U-shaped pieces 9, and the two U-shaped pieces 9 are respectively arranged on two sides of the limiting clamping block 31, so that the U-shaped pieces 9 are positioned, the installation of the U-shaped pieces 9 is facilitated, the installed U-shaped pieces 9 are protected, and the U-shaped pieces 9 are prevented from being deformed due to collision;

the servo motor 4 is in communication connection with a servo controller 5, and the servo controller 5 is used for controlling the rotating speed of the servo motor 4;

a millimeter wave radar 6 is fixedly mounted on the load support 1 or the drive axle assembly 3, and the millimeter wave radar 6 is used for detecting the distance between the load support 1 and an obstacle in real time and transmitting the distance information to the servo controller 5;

the hub of the drive axle assembly 3 and the servo motor 4 are fixedly provided with rotating speed sensors 7, the rotating speed sensors 7 are used for acquiring rotating speed information of the drive axle assembly 3 and transmitting the acquired rotating speed information to the servo controller 5, and the servo controller 5 converts the rotating speed information into linear motion speed information of the drive axle assembly 3;

a thermosensitive sensor 8 is fixedly arranged on the servo motor 4 and the drive axle assembly 3, the thermosensitive sensor 8 is used for detecting the working temperature of the servo motor 4 and the drive axle assembly 3, and when the working temperature of the servo motor 4 and the drive axle assembly 3 reaches a set threshold value, an alarm sends alarm information;

is mounted on the hub of the drive axle assembly 3 toAnd the rotating speed sensors 7 on the servo motor 4 respectively acquire rotating speed information, and the rotating speeds acquired by the two rotating speed sensors 7 are assumed to be A respectively₁、A₂When (A)₁-A₂)/A_iWhen the value of the driving platform is greater than or equal to the preset value A, i is 1 or 2, the alarm sends alarm information and automatically stops to perform maintenance processing, so that the situation that the system misjudges due to the error of the rotating speed information and the operation safety of the driving platform is influenced is avoided, and the operation safety performance of the whole platform is improved;

when (A)₁-A₂)/A_iWhen the value of (A) is less than A, the collected rotating speed information is considered to have no problem, and the servo controller 5 adopts the rotating speed information collected by any rotating speed sensor 7 to perform data processing or adopts the average value of the rotating speeds collected by two rotating speed sensors 7 to perform subsequent data processing;

specifically, a timing module is arranged in the servo controller 5, the servo controller 5 can calculate the movement speed of the obstacle in the movement direction of the driving platform according to the self movement speed and the distance change between the obstacle and the driving platform within a period of time, and adjust the rotating speed of the servo motor 4 according to the movement speed of the obstacle, the movement speed of the driving platform and the distance between the obstacle and the driving platform so as to control the driving platform and the obstacle to keep a safe distance;

the driving platform integrates real-time monitoring equipment components such as a millimeter wave radar, a rotation speed sensor, a heat-sensitive sensor and the like, can monitor information such as the speed, the stroke, the rotation speed displacement, the temperature of a moving part and the like of the equipment in real time, basically meets the basic signal acquisition requirement required by intelligent control, and can realize the speed monitoring, the real-time positioning, the intelligent anti-collision early warning, the active braking and the full life cycle monitoring of vehicles and equipment by acquiring information through signals;

the invention integrates mechanical and electrical control parts to form a single modularized layout mechanism, is convenient for direct adaptation and installation of the whole vehicle, avoids overload damage of parts caused by artificial technical level of host adaptation and performance difference of adaptive parts, improves the stability of the vehicle and ensures the service performance and reliability.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "left", "right", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation and a specific orientation configuration and operation, and thus, should not be construed as limiting the present invention. Furthermore, "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be directly connected or indirectly connected through an intermediate member, or they may be connected through two or more elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

While one embodiment of the present invention has been described in detail, the description is only a preferred embodiment of the present invention and should not be taken as limiting the scope of the invention. All equivalent changes and modifications made within the scope of the present invention shall fall within the scope of the present invention.