CN217969650U - Pure-electric second-order free coupling steering all-wheel drive line driving modular walking mechanism - Google Patents
Pure-electric second-order free coupling steering all-wheel drive line driving modular walking mechanism Download PDFInfo
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- CN217969650U CN217969650U CN202221878970.8U CN202221878970U CN217969650U CN 217969650 U CN217969650 U CN 217969650U CN 202221878970 U CN202221878970 U CN 202221878970U CN 217969650 U CN217969650 U CN 217969650U
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Abstract
A pure electric second-order free coupling steering all-wheel drive power drive modular walking mechanism relates to the technical field of electric control vehicles. Including having a plurality of automatically controlled dollies that turn to and from the function of walking, be connected with the facial make-up link between the automatically controlled dolly, still install the speed reduction gyration between facial make-up link and the automatically controlled dolly and support, the reduction gear output that the speed reduction gyration was supported is connected with the second encoder, and the power input end that the speed reduction gyration was supported is connected with second grade and turns to servo motor, second grade turns to servo motor and is used for supporting the relative facial make-up link of drive automatically controlled dolly and turn to through the speed reduction gyration. The utility model discloses a facial make-up link terrain clearance is higher than 1 meter to can dispose the not facial make-up link of equidimension according to the difference of operation machines and operation scope's difference, site environment's difference, and the facial make-up link of equidimension can dispose the automatically controlled dolly of the modularization of different quantity as required, has higher equipment flexibility, can adapt to the operation of various complex environment.
Description
Technical Field
The utility model relates to an automatically controlled car technical field specifically is a pure electric second order free coupling turns to full wheel drive wire control modular running gear.
Background
Work implements refer to various implements used in the crop growing and industrial processes, such as: the agricultural machine comprises a seeder, a sprinkler, a pesticide sprayer, a plowing machine, a weeding machine and the like, wherein when the agricultural machine works in the prior art, a walking mechanism is not independently configured, a tractor is generally used as traction equipment to drive the agricultural machine to operate forwards, but the tractor is large in size and wide in tire width, and branches, leaves and fruits of crops are easily damaged when the agricultural machine is pulled forwards.
In addition, the tractor can only be used for hanging operation tools in the front or the back, so that the size of the whole equipment in the front-back direction is large, the requirements of turning around on the front-back space are high, meanwhile, the tractor generally adopts diesel oil as an energy source, and a large amount of harmful gas can be generated in the combustion process of the diesel oil.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a pure electric second order free coupling turns to full wheel drive power line modularization running gear, can effectively solve the problem among the background art.
The technical scheme for realizing the purpose is as follows: the utility model provides a pure electric second order free coupling turns to full wheel drive line control modularization running gear, its characterized in that: including having to turn to and from a plurality of automatically controlled dollies of walking function, be connected with the facial make-up link between the automatically controlled dolly, still install the speed reduction gyration between facial make-up link and the automatically controlled dolly and support, the reduction gear output that the speed reduction gyration was supported is connected with the second encoder, and the power input end that the speed reduction gyration was supported is connected with the second grade and turns to servo motor, the second grade turns to servo motor and is used for supporting the relative facial make-up link of drive automatically controlled dolly and turn to through the speed reduction gyration.
Furthermore, the electric control trolleys are symmetrically arranged on two sides of the upper connecting frame, at least one electric control trolley is arranged on the same side, and the electric control trolleys on the same side are arranged at intervals.
Furthermore, the electric control trolley comprises a wire-controlled chassis, wheels are arranged on two sides of the wire-controlled chassis, the wheels are mounted below the wire-controlled chassis through wheel frames, and the wheels are connected with the wheel frames through hub motors;
the top end of the wheel frame is fixedly connected with a connecting seat, the connecting seat at the upper end of the wheel frame is rotatably connected with the wire control chassis through a rotary support, the outer ring of the rotary support is fixedly connected with the wire control chassis, and the upper end of the connecting seat protrudes upwards out of the wire control chassis;
the wire-controlled chassis is also provided with primary steering drivers for driving wheels to rotate, one wheel corresponds to one primary steering driver, the tail end of the primary steering driver is hinged to the wire-controlled chassis, the telescopic end of the primary steering driver is connected with the connecting seat corresponding to the top end of the wheel frame through a steering lever, one end of the steering lever is hinged to the telescopic end of the corresponding primary steering driver, and the other end of the steering lever is fixedly connected with the corresponding connecting seat.
Furthermore, a flange is arranged at the upper end of the connecting seat, and the flange at the upper end of the connecting seat is fixedly connected with the corresponding steering lever through a bolt.
Further, the primary steering driver adopts an electric cylinder, the electric cylinder is driven by a servo motor, and the servo motor of the electric cylinder is provided with a first encoder.
Furthermore, a control system and a cover for packaging the control system on the wire control chassis are further installed on the wire control chassis, first power supply batteries for supplying power to the control system are arranged on two sides of the cover, and the first power supply batteries are connected with the wire control chassis.
Furthermore, the control system comprises a second-level control unit, a first-level steering controller, a second-level steering controller, a hub motor controller and a selective implement control module, wherein the first-level steering controller, the second-level steering controller, the hub motor controller and the selective implement control module are respectively connected with the second-level control unit;
the hub motor controllers are the same as the hub motors of the electric control trolley in number, each hub motor is correspondingly connected with one hub motor controller, the number of first-order steering controllers is the same as that of first-order steering drivers of the corresponding electric control trolley, a servo motor of each first-order steering driver is correspondingly connected with one first-order steering controller, the number of second-order steering controllers is the same as that of second-order steering servo motors, each second-order steering servo motor is correspondingly connected with one second-order steering controller, and the selective machine tool control module is used for being connected with a control end of a working machine tool;
the second encoder connected with the output end of the speed reducer of the speed reduction rotary support and the first encoder connected with the servo motor of the primary steering driver are connected with the secondary control unit in the corresponding electric control trolley control system. Furthermore, a remote control receiver, a master control unit and a second power supply battery connected with the master control unit and the remote control receiver are further installed on the wire control chassis, the remote control receiver, the master control unit and the second power supply battery are packaged in the shell, the remote control receiver is matched with a remote control transmitter, and the master control unit is respectively in communication connection with a secondary control unit of the electric control trolley.
The utility model has the advantages that:
the utility model discloses a facial make-up link terrain is higher than 1 meter to can be according to the difference of operation machines and operation scope, the not equidimension facial make-up link of site environment's difference configuration, and the not equidimension facial make-up link can dispose the automatically controlled dolly of the modularization of different quantity as required, higher equipment flexibility has, can adapt to the operation of various complex environment, and the automatically controlled dolly of full electric drive has the environmental protection, the advantage of energy saving, and compact structure, small, reduce the damage to the crop.
The utility model discloses mainly be applicable to articulating of medium-sized operation machines, medium-sized seeding machines, medium-sized watering machines, medium-sized pesticide spray machines, medium-sized plowing machines, medium-sized weeding machines etc. during the use, directly hang the dress with the operation machines can on the facial make-up link.
The utility model relates to a by two-stage steering system, when meetting some complicated road surface operating modes, for example the less curved road of radius of gyration, S is curved in succession, the road conditions narrows down or meets the circumstances such as barrier needs detour, host computer or remote control transmitter send the action instruction to total control unit, one-level turns to the speed that driver and second grade turned to actuating mechanism separately simultaneously, the position, detection data information transmission such as angle to total control unit, total control unit makes corresponding output signal of telecommunication, transmit respectively to first-order steering controller, second order steering controller, drive one-level steering driver and second grade simultaneously and turn to the servo motor action, the wheel of automatically controlled dolly and automatically controlled dolly itself turn to the while respectively, according to the information of actual condition demand feedback, the wheel of automatically controlled dolly turns to the angle can be along with automatically controlled dolly itself turns to the angle adjustment, this is the coupling that the second order turned to, the angle that the coupling turned to can freely be adjusted along with the actual demand, can steady execution action under the special road surface condition.
The utility model discloses an automatically controlled dolly of modularization based on four wheel drive four-wheel steering, based on the automatically controlled dolly second order of single modularization free coupling all-wheel steering all-wheel drive system, adopt pure electric signal driven second order free coupling all-wheel steering all-wheel drive line control modularization running gear, can adapt to various operating mode demands.
Each detection encoder feeds back measurement data in real time, each controller accurately outputs electric signals, and each executing steering structure stably performs steering actions at a constant speed without blockage. According to the requirement of an actual working condition, an upper computer or a remote controller sends an instruction, a detection element transmits detection data information such as speed, position and angle of a steering execution mechanism to a master control unit, the master control unit outputs an electric signal to a first-order steering controller and a second-order steering controller to drive a steering servo motor, and each module steering execution structure executes second-order free coupling uniform-speed steering.
The application of the second-order free coupling all-wheel steering all-wheel drive wire control modular walking mechanism based on pure electric signal driving combines multiple modules into a new wire control chassis, such as 2 module combination, 4 module combination, 6 module combination and the like, and the modular combination has wide application range and higher working efficiency.
Drawings
FIG. 1 is a plan view of example 1;
FIG. 2 is a front view of the electrically controlled cart;
FIG. 3 is a top view of the electrically controlled cart;
FIG. 4 is a schematic view of a connection structure of a wheel and a wheel frame;
FIG. 5 is a schematic view of a steering structure of the wheel;
FIG. 6 is a top view of FIG. 5;
FIG. 7 is a control schematic diagram of embodiment 1;
FIG. 8 is a schematic view of an assembled traveling mechanism of a four-modular electric control trolley;
fig. 9 is a schematic view of an assembly travelling mechanism of the six modular electric control trolleys.
Detailed Description
Example 1
As shown in figures 1-7, the utility model comprises two same electric control trolleys 1 with steering and self-walking functions, wherein the two electric control trolleys 1 are arranged in bilateral symmetry and are connected with an upper-mounting connecting frame 2.
The electric control trolley 1 comprises a wire control chassis 3, two wheels 4 are arranged on two sides of the wire control chassis 3 respectively, the wheels 4 on the same side are arranged in parallel, the wheels 4 are mounted below the wire control chassis 3 through wheel frames 5 of an L-shaped structure respectively, the vertical sections of the wheel frames 5 are vertically downward, the wheels 4 comprise rims and tires, hub motors 4.1 are arranged in the wheels 4, the hub motors 4.1 are servo motors, rotors of the hub motors 4.1 are fixedly connected with the rims of the wheels 4, and stator shafts 4.1.1 of the hub motors 4.1 are fixedly connected to the inner sides of the lower ends of the corresponding wheel frames 5.
The top end of the wheel frame 5 is fixedly connected with a connecting seat 5.1, the connecting seat 5.1 at the upper end of the wheel 5 is rotatably connected with the wire control chassis 3 through a rotary support 8, the upper end of the connecting seat 5.1 upwards protrudes out of the wire control chassis 3, and a flange 5.2 is integrally arranged at the upper end of the connecting seat 5.1.
The drive-by-wire chassis 3 is further respectively provided with a primary steering driver 6 for driving the wheel frame 5 to rotate so as to drive the wheels 4 to steer, one wheel 4 corresponds to one primary steering driver 6, the primary steering driver 6 adopts an electric cylinder, the electric cylinder is driven by a servo motor, the servo motor of the electric cylinder is provided with a first encoder (not shown in the figure), the tail ends of two primary steering drivers 6 corresponding to two wheels 4 on the same side are oppositely arranged and hinged on the drive-by-wire chassis 3, the telescopic end of the primary steering driver 6 is connected with a connecting seat 5.1 corresponding to the top end of the wheel frame 5 through a steering lever 7, one end of the steering lever 7 is hinged with the telescopic end corresponding to the primary steering driver 6, and the other end of the steering lever 7 is connected with a flange 5.2 corresponding to the upper end of the connecting seat 5.1 through a bolt.
A speed-reducing rotary support 9 is further installed between the upper-mounting connecting frame 2 and the electric control trolley 1, a power input end of the speed-reducing rotary support 9 is connected with a two-stage steering servo motor 10, a speed reducer output end of the speed-reducing rotary support 9 is connected with a second encoder 25, and the speed-reducing rotary support 9 is used for driving the electric control trolley 1 to steer relative to the upper-mounting connecting frame 2.
Further, the lower end of the upper mounting connecting frame 2 is connected with an upper flange seat 11, the drive-by-wire chassis 3 is connected with a lower flange seat 12, the upper mounting connecting frame 1 is connected with the outer ring of the speed reduction rotary support 9 through the upper flange seat 11, and the drive-by-wire chassis 3 is connected with the inner ring of the speed reduction rotary support 9 through the lower flange seat 12.
Each electric control trolley 1 is provided with a control system arranged on the wire control chassis 3 and a cover shell 13 for packaging the control system on the wire control chassis 3, first power supply batteries 14 for supplying power to the control system are arranged on two sides of the cover shell 13, the first power supply batteries 14 are packaged in the cover shell, and the first power supply batteries 14 are connected with the wire control chassis 3.
The control system comprises a secondary control unit 15, a first-order steering controller 16, a second-order steering controller 17, a hub motor controller 18 and a selection tool control module 19, wherein the first-order steering controller 16, the second-order steering controller 17, the hub motor controller 18 and the selection tool control module 19 are respectively connected with the secondary control unit 15;
the number of the hub motor controllers 18 is the same as that of the hub motors 4.1 of the electric control trolley 1, each hub motor 4.1 is correspondingly connected with one hub motor controller 18, the number of the first-order steering controllers 16 is the same as that of the first-order steering drivers 6 of the corresponding electric control trolley 1, the servo motor of each first-order steering driver 6 is correspondingly connected with one first-order steering controller 16, the number of the second-order steering controllers 17 is the same as that of the second-order steering servo motors 10, each second-order steering servo motor 10 is correspondingly connected with one second-order steering controller 17, and the selective machine tool control module 19 is used for being connected with a control end of a working machine tool.
The wire control chassis 3 is also provided with a remote control receiver 20, a master control unit 21 and a second power supply battery 22 connected with the master control unit 21 and the remote control receiver 20, the master control unit 21 and the second power supply battery 22 are all packaged in the shell, the remote control receiver 20 is matched with a remote control transmitter 23, and the master control unit 21 is in communication connection with the secondary control units 15 of the two electric control trolleys 1.
Further, the traveling mechanism according to the present embodiment further includes an upper computer 24 in communication connection with the general control unit 21.
As a further explanation of this embodiment, the master control unit 21 and the secondary control unit 15 may be but not limited to an STM32 single chip microcomputer, and the selection tool control module 19 is an STM32 single chip microcomputer or a PLC embedded module.
As a further explanation of this embodiment, the utility model discloses can be applicable to the use of operation machines such as medium-sized seeder, medium-sized watering machines, medium-sized pesticide spraying machines, medium-sized ploughing machines, medium-sized weeder, during the use, directly articulate in facial make-up link 2 below to with the control end and the selection machines control module 19 of operation machines such as medium-sized seeder, medium-sized watering machines, medium-sized pesticide spraying machines, medium-sized ploughing machines, medium-sized weeder are connected.
As a further explanation of this embodiment, the utility model discloses not only be applicable to the use of articulating of agricultural machines such as medium-sized seeding machines, medium-sized watering machines, medium-sized pesticide spraying machines, medium-sized plowing machines, medium-sized weeder, also be applicable to the use of articulating of industrial machines such as paint spraying machines, cleaning machines.
The utility model discloses a theory of operation:
the upper computer 24 or the remote control emitter 23 sends an action instruction to the master control unit 21, and the master control unit 21 sends the action instruction to the first-order steering controller 16, the second-order steering controller 17, the hub motor controller 18 and the selective implement control module 19 through the second-level control unit 15, so that the walking and the steering of the two electric control trolleys 1 and the operation of the operation implements are controlled.
The utility model discloses an automatically controlled dolly 1 can turn to driver 6 drive alone through the one-level, also can turn to servo motor 10 drive alone through the second grade and turn to, also can turn to driver 6 and second grade through the one-level and turn to servo motor 10 cooperation drive and turn to, and second grade turns to servo motor 10 and can drive automatically controlled dolly 1 and realize 360 and turn to, turn to the in-process, the first encoder that the one-level turned to on the driver 6 turns to the speed of driver 6 with the one-level, the position, detection data information such as angle transmits to total control unit 21 through second grade control unit 15, second encoder 25 on the rotation support 9 that slows down supports the speed of rotation support 9, the position, detection data information such as angle passes through second grade control unit 15 and transmits to total control unit 21, total control unit 21 is according to the data information who acquires, turn to driver 6 and second grade and turn to servo motor 10 and control, make to turn to angle and host computer 24 or remote control transmitter 23 and send the action instruction phase-match.
When the road surface meets the working conditions of complex road surfaces, such as a curved road with a small turning radius, a continuous S-shaped curve, a narrow road condition or a barrier needing to detour and the like. The upper computer or the remote control transmitter 23 sends an action instruction to the master control unit 21, a first encoder corresponding to the primary steering driver 6 and a second encoder 25 corresponding to the secondary steering servo motor 10 simultaneously transmit detection data information such as speed, position and angle of respective steering actuating mechanisms to the master control unit 21, the master control unit 21 makes corresponding output electric signals which are respectively transmitted to the primary steering controller 16 and the secondary steering controller 17, and simultaneously drives the primary steering driver 6 and the secondary steering servo motor 10 to act, wheels 4 of the electric control trolley 1 and the electric control trolley 1 respectively steer and simultaneously, according to information fed back by actual working condition requirements, the steering angle of the wheels 4 of the electric control trolley 1 can be adjusted along with the steering angle of the electric control trolley 1, the steering angle of the electric control trolley 1 can be adjusted along with the steering angle of the wheels 4 of the electric control trolley 1, the second-order steering coupling is realized, the angle of the coupling steering can be freely adjusted along with actual requirements, and actions can be stably executed at a constant speed under the condition of a special road surface.
Example 2
Example 2 differs from example 1 in that: according to the length of the upper connecting frame 2, two electric control trolleys 1 shown in fig. 8 or three or more electric control trolleys shown in fig. 9 can be respectively connected to two sides of the upper connecting frame 2, and the secondary control units 15 of the electric control trolleys are in communication connection with the main control unit 21.
Claims (8)
1. The utility model provides a pure electric second order free coupling turns to full wheel drive line accuse modularization running gear which characterized in that: including having to turn to and from a plurality of automatically controlled dollies of walking function, be connected with the facial make-up link between the automatically controlled dolly, still install the speed reduction gyration between facial make-up link and the automatically controlled dolly and support, the reduction gear output that the speed reduction gyration was supported is connected with the second encoder, and the power input end that the speed reduction gyration was supported is connected with the second grade and turns to servo motor, the second grade turns to servo motor and is used for supporting the relative facial make-up link of drive automatically controlled dolly and turn to through the speed reduction gyration.
2. The pure electric second-order free coupling steering all-wheel drive power line modular walking mechanism of claim 1, wherein: the electric control trolleys are symmetrically arranged on two sides of the upper connecting frame, at least one electric control trolley is arranged on the same side, and the electric control trolleys on the same side are arranged at intervals.
3. The pure electric second-order free coupling steering all-wheel drive power line modular walking mechanism of claim 1, wherein: the electric control trolley comprises a wire-controlled chassis, wheels are arranged on two sides of the wire-controlled chassis, the wheels are mounted below the wire-controlled chassis through wheel frames, and the wheels are connected with the wheel frames through hub motors;
the top end of the wheel frame is fixedly connected with a connecting seat, the connecting seat at the upper end of the wheel frame is rotatably connected with the wire-control chassis through a rotary support, the outer ring of the rotary support is fixedly connected with the wire-control chassis, and the upper end of the connecting seat protrudes upwards out of the wire-control chassis;
the wire-controlled chassis is also provided with primary steering drivers for driving wheels to rotate, one wheel corresponds to one primary steering driver, the tail end of the primary steering driver is hinged to the wire-controlled chassis, the telescopic end of the primary steering driver is connected with the connecting seat corresponding to the top end of the wheel frame through a steering lever, one end of the steering lever is hinged to the telescopic end of the corresponding primary steering driver, and the other end of the steering lever is fixedly connected with the corresponding connecting seat.
4. The pure electric second-order free coupling steering all-wheel drive power line modular walking mechanism of claim 3, wherein: the upper end of the connecting seat is provided with a flange, and the flange at the upper end of the connecting seat is fixedly connected with the corresponding steering lever through a bolt.
5. The pure electric second-order free coupling steering all-wheel drive power line modular walking mechanism of claim 3, wherein: the primary steering driver adopts an electric cylinder, the electric cylinder is driven by a servo motor, and the servo motor of the electric cylinder is provided with a first encoder.
6. The pure electric second-order free coupling steering all-wheel drive power line modular walking mechanism of claim 5, wherein: the wire control chassis is also provided with a control system and a cover for packaging the control system on the wire control chassis, wherein first power supply batteries for supplying power to the control system are arranged on two sides of the cover, and the first power supply batteries are connected with the wire control chassis.
7. The pure electric second-order free coupling steering all-wheel drive line control modular walking mechanism of claim 6, wherein: the control system comprises a secondary control unit, a first-order steering controller, a second-order steering controller, a hub motor controller and a selection tool control module, wherein the first-order steering controller, the second-order steering controller, the hub motor controller and the selection tool control module are respectively connected with the secondary control unit;
the hub motor controllers are the same as the hub motors of the electric control trolleys in number, each hub motor is correspondingly connected with one hub motor controller, the number of first-order steering controllers is the same as that of first-order steering drivers of the corresponding electric control trolleys, a servo motor of each first-order steering driver is correspondingly connected with one first-order steering controller, the number of second-order steering controllers is the same as that of second-order steering servo motors, each second-order steering servo motor is correspondingly connected with one second-order steering controller, and the selective machine tool control module is used for being connected with a control end of a working machine tool;
and a second encoder connected with the output end of the speed reducer of the speed reduction rotary support and a first encoder connected with a servo motor of the primary steering driver are connected with a secondary control unit in the corresponding electric control trolley control system.
8. The pure electric second-order free coupling steering all-wheel drive power line modular walking mechanism of claim 7, wherein: the wire control chassis is also provided with a remote control receiver, a master control unit and a second power supply battery connected with the master control unit and the remote control receiver, the master control unit and the second power supply battery are all packaged in the shell, the remote control receiver is matched with a remote control transmitter, and the master control unit is respectively in communication connection with a secondary control unit of the electric control trolley.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221878970.8U CN217969650U (en) | 2022-07-21 | 2022-07-21 | Pure-electric second-order free coupling steering all-wheel drive line driving modular walking mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221878970.8U CN217969650U (en) | 2022-07-21 | 2022-07-21 | Pure-electric second-order free coupling steering all-wheel drive line driving modular walking mechanism |
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| Publication Number | Publication Date |
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| CN217969650U true CN217969650U (en) | 2022-12-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202221878970.8U Active CN217969650U (en) | 2022-07-21 | 2022-07-21 | Pure-electric second-order free coupling steering all-wheel drive line driving modular walking mechanism |
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| CN (1) | CN217969650U (en) |
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- 2022-07-21 CN CN202221878970.8U patent/CN217969650U/en active Active
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