CN212290019U - Transfer vehicle - Google Patents
Transfer vehicle Download PDFInfo
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- CN212290019U CN212290019U CN202021227096.2U CN202021227096U CN212290019U CN 212290019 U CN212290019 U CN 212290019U CN 202021227096 U CN202021227096 U CN 202021227096U CN 212290019 U CN212290019 U CN 212290019U
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- steering wheel
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Abstract
The utility model relates to a transfer vehicle, transfer vehicle includes: a frame (1); a steering wheel (2) mounted on the frame (1); the motor (3) is connected with the steering wheel (2) and is configured to drive the steering wheel (2) to steer; a storage battery (4) electrically connected to the motor (3); and the vehicle control unit (5) is in communication connection with the motor (3) so as to control the steering wheel (2) to steer by controlling the motor (3) to rotate. Use the technical scheme of the utility model, the turning to of transfer vehicle is accomplished by battery (4) and rather than motor (2) of electricity connection, consequently, this a steering system is favorable to being applicable to electric drive's new forms of energy vehicle.
Description
Technical Field
The utility model relates to a vehicle field particularly, relates to a transport vehicle.
Background
The common vehicle adopts a steering wheel and a steering wheel control transmission mechanism to realize steering; the large-scale carrying and transferring equipment drives the steering by adopting a hydraulic oil cylinder or an oil cylinder and connecting rod by utilizing the existing hydraulic system on the basis of adopting a hydraulic motor to walk; the new energy transfer equipment does not have a cab and a steering wheel used by the traditional automobile, and also does not have a large hydraulic pump station equipped by large-scale carrying and transferring equipment.
(1) The existing steering wheel and steering wheel control transmission mechanism are limited to vehicles with a cab and one-way running, the torque is small, and the requirements of two-way running and large torque of large-scale transfer equipment cannot be met;
(2) the steering response speed of the oil cylinder is low in the conventional mode that the high-power pump station drives the oil cylinder to steer; the method needs large power requirement, has large energy loss in the driving process among the motor, the pump station and the motor, and is not suitable for equipment powered by batteries.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a transfer vehicle with a steering system who is applicable to electric vehicle.
According to the utility model discloses an aspect of embodiment, the utility model provides a transfer vehicle, transfer vehicle includes:
a frame;
the steering wheel is arranged on the frame;
the motor is connected with the steering wheel and is configured to drive the steering wheel to steer;
the storage battery is electrically connected with the motor; and
and the vehicle control unit is in communication connection with the motor so as to control the steering wheel to steer by controlling the motor to rotate.
In some embodiments, the transfer vehicle further comprises a motor controller, and the motor controller is in communication with both the vehicle control unit and the motor.
In some embodiments of the present invention, the,
the motor comprises a servo motor;
the motor controller includes a servo controller.
In some embodiments, the vehicle control unit and the motor controller are connected through a CAN bus.
In some embodiments, the transfer vehicle further comprises an angle detection component that detects the direction of the steered wheel, the angle detection component being in communicative connection with the vehicle control unit to form a closed-loop control system.
In some embodiments, the angle detection component comprises an encoder.
In some embodiments, the transit vehicle is an electric drive vehicle.
In some embodiments, a plurality of motors are arranged in one-to-one correspondence with the plurality of steerable wheels, and the motors drive the respective steerable wheels to steer.
According to another aspect of the present invention, there is provided a method of steering a transfer vehicle, the method comprising:
acquiring a mode to be steered of a transfer vehicle, wherein the mode comprises steering speed and steering angle;
calculating a predetermined angle and/or a predetermined speed at which the steerable wheels are steered according to a mode in which the transit vehicle is to be steered;
the motor is controlled to rotate the steering wheel by a predetermined angle and/or a predetermined speed.
In some embodiments, the electric machine is inhibited from rotating during a stop of the transfer vehicle.
In some embodiments, the steering method further comprises:
detecting the actual angle and/or the actual speed of the rotation of the steering wheel;
comparing the difference value between the actual angle and the preset angle, and controlling the motor to rotate according to the difference value so as to enable the actual angle of the rotating steering wheel to be equal to the preset angle; and/or comparing the difference between the actual speed and the preset speed, and controlling the motor to rotate according to the difference so that the actual speed of the steering wheel to rotate is equal to the preset speed.
Use the technical scheme of the utility model, the motor that turns to of transport vehicle is accomplished by the battery and is connected rather than the electricity, consequently, this a steering system is favorable to being applicable to electric drive's new forms of energy vehicle.
Other features of the present invention and advantages thereof will become apparent from the following detailed description of exemplary embodiments of the invention, which proceeds with reference to the accompanying drawings.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.
Fig. 1 shows a schematic structural view of a first steering mode of a transfer vehicle according to an embodiment of the invention;
FIG. 2 illustrates a schematic structural view of a second steering mode of a transfer vehicle according to an embodiment of the present invention;
FIG. 3 illustrates a functional block diagram of an electrical control system of a transit vehicle in accordance with an embodiment of the present invention; and
fig. 4 shows a control logic flow diagram of a transfer vehicle according to an embodiment of the present invention.
In the figure: 1. a frame; 2. a steering wheel; 3. a motor; 4. a storage battery; 5. a vehicle control unit; 6. a motor controller; 7. an angle detection section; 8. a handle.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
Fig. 1 shows a schematic configuration of a first steering mode of the transfer vehicle of the present embodiment;
FIG. 2 is a schematic illustration of a second steering mode of the transfer vehicle of the present embodiment; FIG. 3 illustrates a functional block diagram of an electrical control system of the transit vehicle of the present embodiment; fig. 4 shows a control logic flowchart of the transit vehicle of the present embodiment.
Referring to fig. 1 to 4, the transfer vehicle of the present embodiment includes a frame 1, a steering wheel 2, a motor 3, a battery 4, and a vehicle control unit 5.
The steering wheel 2 is arranged on the frame 1; the motor 3 is connected with the steering wheel 2 and is configured to drive the steering wheel 2 to steer; the storage battery 4 is electrically connected with the motor 3 to provide electric energy for the motor 3; the vehicle control unit 5 is in communication connection with the motor 3 to control the steering wheel 2 to steer by controlling the motor 3 to rotate.
In the present embodiment, the steering of the transit vehicle is performed by the storage battery 4 and the motor 3 electrically connected thereto, and therefore, the steering system is advantageous for a new energy vehicle suitable for electric drive.
The motor 3 drives the steering wheel 2 to rotate around a vertical rotating axis so as to realize the steering of the steering wheel 2.
In this embodiment, the transit vehicle is an electrically driven vehicle.
The transfer vehicle further comprises a motor controller 6, and the motor controller 6 is in communication connection with the vehicle control unit 5 and the motor.
The motor 3 includes a servo motor; the motor controller 6 includes a servo controller.
The vehicle control unit 5 sends a motor enabling control signal, a motor mode control signal and a motor given torque given rotating speed signal to the servo controller; the motor enable control signal is used for controlling the enabling or forbidding of the motor, and the motor mode control signal is used for controlling the stopping, forward driving or reverse driving of the motor.
The vehicle control unit 5 is connected with the motor controller 6 through a CAN bus.
As shown in fig. 4, the transfer vehicle further includes a handle 8, and the handle 8 is in communication connection with the vehicle control unit 5 to control the transfer vehicle to steer through the vehicle control unit 5.
The servo motor controller drives the motor according to information such as an enabling control signal, a mode control signal, a given torque given rotating speed signal and the like sent by the vehicle control unit, and sends current state information of the motor such as motor temperature, current, a controller state code and the like to the vehicle control unit through the CAN bus.
The CAN bus communication technology is utilized to connect and communicate all the systems, and information such as instructions, feedback and the like is transmitted through the bus, so that control circuits are reduced, and the complexity of the system is reduced.
The servo motor operates according to the command of the servo controller, and drives the steering wheel 2 to steer through the transmission device.
The transfer vehicle further comprises an angle detection component 7 for detecting the direction of the steering wheel 2, and the angle detection component 7 is in communication connection with the vehicle control unit 5 to form a closed-loop control system.
In some embodiments, the angle detection component 7 comprises an encoder.
The steering encoder detects the actual steering angle of the wheel set in real time and the actual steering angle of the wheel set is used as a feedback signal to enter the whole vehicle controller, and the controller compares the difference value between the command angle and the actual angle and carries out steering closed-loop control through PID regulation.
The motors 3 are arranged in one-to-one correspondence with the steering wheels 2, and the motors 3 drive the corresponding steering wheels 2 to steer.
Fig. 1 shows a schematic configuration diagram of a first steering mode of the transit vehicle of the present embodiment. As shown in fig. 1, the plurality of steered wheels 2 of the transit vehicle, which are connected to point a, are steered so that the transit vehicle as a whole turns around point a.
Fig. 2 shows a schematic configuration diagram of a second steering mode of the transit vehicle of the present embodiment. As shown in fig. 2, the plurality of steered wheels 2 of the transit vehicle, which are connected to the point B, are steered so that the transit vehicle as a whole turns around the point B.
According to another aspect of the present invention, there is provided a method of steering a transfer vehicle, the method comprising:
acquiring a mode to be steered of a transfer vehicle, wherein the mode comprises steering speed and steering angle;
calculating a predetermined angle and/or a predetermined speed at which the steerable wheels 2 are steered according to the mode in which the transit vehicle is to be steered;
the motor 3 is controlled to rotate so as to rotate the steerable wheels 2 by a predetermined angle and/or at a predetermined speed.
In some embodiments, the electric machine 3 is inhibited from rotating during the transit vehicle stops. The system sets safety conditions that the system can only turn when the neutral gear is not turned, the walking speed is not zero, the system can only turn when the communication fault is not turned, and the system can only turn when the fault is manually reset, and the like, thereby providing the system safety.
In some embodiments, the steering method further comprises:
detecting the actual angle and/or the actual speed of rotation of the steering wheel 2;
comparing the difference between the actual angle and the preset angle, and controlling the motor 3 to rotate according to the difference so as to enable the actual angle of the steering wheel 2 to be equal to the preset angle; and/or comparing the difference between the actual speed and the predetermined speed and controlling the motor 3 to rotate according to the difference so that the actual speed of the turning wheel 2 is equal to the predetermined speed.
The transfer vehicle of the embodiment forms a control closed loop by using the vehicle control unit, the servo controller, the servo motor and the steering encoder, the system calculates the angle and the steering speed required by each wheel in different steering modes according to the wheelbase and the wheelbase of the equipment, the servo controller realizes steering according to a steering instruction sent by the vehicle control unit, and the terminal encoder feeds back the angle detection signal of the steering terminal to the vehicle control unit 5 to realize the closed loop control method.
The difference of the new energy vehicle, the traditional vehicle and the large-scale hydraulic carrying equipment is combined, the characteristics of the new energy vehicle are utilized, the servo motor is utilized for steering control, the problem that the new energy vehicle cannot steer due to the fact that a cab and a high-power hydraulic pump station are not arranged is solved, the steering speed and the steering precision of the equipment are guaranteed, and the new energy vehicle can be popularized and used on the new energy carrying equipment.
The above description is only exemplary embodiments of the present invention, and should not be construed as limiting the present invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A transit vehicle, comprising:
a frame (1);
a steering wheel (2) mounted on the frame (1);
the motor (3) is connected with the steering wheel (2) and is configured to drive the steering wheel (2) to steer;
a storage battery (4) electrically connected to the motor (3); and
and the vehicle control unit (5) is in communication connection with the motor (3) so as to control the steering wheel (2) to steer by controlling the motor (3) to rotate.
2. Transfer vehicle according to claim 1, further comprising a motor controller (6), the motor controller (6) being in communication with both the vehicle control unit (5) and the motor.
3. Transfer vehicle according to claim 2,
the motor (3) comprises a servo motor;
the motor controller (6) comprises a servo controller.
4. Transfer vehicle according to claim 2, characterized in that the vehicle control unit (5) is connected with the motor controller (6) by means of a CAN bus.
5. Transfer vehicle according to claim 1, further comprising an angle detection means (7) detecting the direction of the steered wheel (2), the angle detection means (7) being in communication connection with the vehicle control unit (5) to form a closed loop control system.
6. Transferring vehicle according to claim 5, characterized in that the angle detection means (7) comprise an encoder.
7. A transit vehicle as claimed in claim 1, characterised in that the transit vehicle is an electrically driven vehicle.
8. Transfer vehicle according to claim 1, characterized in that a plurality of said electric motors (3) are arranged in a one-to-one correspondence with a plurality of said steering wheels (2), said electric motors (3) driving the respective steering wheels (2) to steer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021227096.2U CN212290019U (en) | 2020-06-29 | 2020-06-29 | Transfer vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021227096.2U CN212290019U (en) | 2020-06-29 | 2020-06-29 | Transfer vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212290019U true CN212290019U (en) | 2021-01-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021227096.2U Active CN212290019U (en) | 2020-06-29 | 2020-06-29 | Transfer vehicle |
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| CN (1) | CN212290019U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111572628A (en) * | 2020-06-29 | 2020-08-25 | 徐州徐工铁路装备有限公司 | Transporter vehicle and method for steering a transporter vehicle |
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2020
- 2020-06-29 CN CN202021227096.2U patent/CN212290019U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111572628A (en) * | 2020-06-29 | 2020-08-25 | 徐州徐工铁路装备有限公司 | Transporter vehicle and method for steering a transporter vehicle |
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| TR01 | Transfer of patent right |
Effective date of registration: 20210413 Address after: No. 68, Gaoxin Road, Xuzhou Economic and Technological Development Zone, Xuzhou City, Jiangsu Province, 221000 Patentee after: Xuzhou Xugong Port Machinery Co.,Ltd. Address before: 221004 Industrial Zone, Xuzhou Economic Development Zone, Jiangsu, Xuzhou Patentee before: XCMG RAILWAY EQUIPMENT Co.,Ltd. |