The invention discloses a structure and a control method of a modular steering wheel chassis, the modular steering wheel chassis comprises four modular steering wheels arranged on the chassis, a power unit of each modular steering wheel comprises a steering motor and a wheel motor, a fixed body of each steering motor is connected with the chassis, a rotating body of each steering motor is connected with a steering wheel frame, and the advancing direction of the steering wheels is adjusted; the wheel motor fixing body is connected with the steering wheel frame, and the rotating body is connected with the hub to drive the steering wheel to rotate and advance. An upper-layer wiring assembly of the wiring unit is connected with a rudder motor rotating body and comprises a fixed rudder motor power line and a signal line; the conductive slip ring is connected with the rudder motor rotating body through a conductive slip ring fixing frame; the lower-layer wiring assembly is connected with the wheel motor and comprises a wheel motor power line and a signal line. The provided modular steering wheel chassis is provided with a thermal anchor point displacement measurement module, displacement can be measured passively, the running direction of the vehicle can be corrected, walking control based on a path planning control mode, a manual control mode and a differential control mode can be selected for chassis control, and complex and diversified control modes are achieved. According to the scheme, the production and manufacturing difficulty can be reduced, and the advancing process stability and the positioning accuracy are improved.

    本发明公开了一种模块化舵轮底盘的结构与控制方法,模块化舵轮底盘包括布置在底盘的四个模块化舵轮,模块化舵轮的动力单元包括舵电机及轮电机,舵电机的固定体与底盘相连、旋转体与舵轮架相连,调节舵轮行进方向;轮电机固定体与舵轮架相连、旋转体与轮毂相连,驱动舵轮转动行进;走线单元的上层走线组件与舵电机旋转体相连,包括固定舵电机电源线和信号线;导电滑环通过导电滑环固定架与舵电机旋转体相连;下层走线组件与轮电机相连,包括轮电机电源线和信号线。所提供的模块化舵轮底盘附有热锚点测位移模块,可以被动的测量位移,修正车运行方向,底盘控制可以选择基于路径规划控制模式、手动控制模式及差速控制模式的行走控制,实现复杂多样的控制方式。上述方案可降低生产制造难度,提高行进过程稳定性及定位精准度。


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Structure and control method of modular steering wheel chassis


    Weitere Titelangaben:

    一种模块化舵轮底盘的结构与控制方法


    Beteiligte:
    GAO RUIZHEN (Autor:in) / ZHANG HAIPENG (Autor:in) / CHEN MENG (Autor:in) / ZHAO ZIYUE (Autor:in)

    Erscheinungsdatum :

    15.10.2024


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / B62D MOTOR VEHICLES , Motorfahrzeuge



    Steering wheel chassis

    XIAO JINGLONG / QIAN ZIXIN / TU PINQUAN et al. | Europäisches Patentamt | 2024

    Freier Zugriff

    Four-wheel independent steering control method for horizontal four-steering-wheel chassis vehicle

    QIN YUGUI / WANG KAIYUAN / LIU HUAN et al. | Europäisches Patentamt | 2023

    Freier Zugriff

    Steering wheel calibration method of steering drive axle chassis four-wheel steering AGV

    GUAN CONGCONG / QIU FENG / CHEN BO et al. | Europäisches Patentamt | 2023

    Freier Zugriff

    Waist twisting four-wheel steering chassis

    ZHU XIAOYAN / MA ZHONGQIANG / YU BO et al. | Europäisches Patentamt | 2024

    Freier Zugriff

    Four-wheel independent steering robot chassis

    HUANG LILI / YU HONGZHOU | Europäisches Patentamt | 2020

    Freier Zugriff