A control system of an omnidirectional driving mechanism of a scissor maintenance operation device

Abstract

This application discloses a control system for an omnidirectional drive mechanism of a scissor maintenance operation device, including an interface and a CAN communication module, a driving mode selection module, a function mode selection module, a fault diagnosis module, a parameter calibration module, a chassis travel control module, The driving motor control module and the steering motor control module are composed of the speed closed-loop control, parking, forward and reverse, starting and deceleration process smooth control, and wheel differential control on both sides of the steering process. It has the following advantages: the omni-directional drive mechanism means that the four electric drive assembly mechanisms are installed on the chassis of the whole machine and control the rotation direction of the four electric drive assembly walking drive motors and steering drive motors through the control system, and finally realize the complete machine. Four self-propelled functions, such as straight-line walking, slanting walking, lateral walking and in-situ steering.

Description

technical field [0001] The invention relates to a control system of an omnidirectional drive mechanism of a scissors maintenance operation device, which belongs to the technical field of motor drive. Background technique [0002] At present, the self-propelled mechanism of the scissors maintenance operation device realizes a single function, and most of them mainly realize the straight-line walking function. Its functions are mainly realized by electro-hydraulic integrated control, and the main driving methods are front-wheel drive, rear-wheel steering or the coexistence of front-wheel drive and steering. Some models use hydraulic or electric drive for the front wheels, and hydraulic steering for the rear wheels to achieve motion control. Restricted by structural limitations, the turning radius of the whole machine is large, the transition speed is slow, the operating environment is single, and the operating efficiency is low. [0003] The utility model patent with the pat...

AI Technical Summary

Problems solved by technology

Although this structure can realize the integration of steering and walking functions, there are three shortcomings: First, during the installation process, the chassis of the equipment needs to leave enough space to accommodate the steering drive motor and the travel drive motor

Second, the production process of the right-angle gear pair driven by travel is complicated and the cost is high. Third, the carrying capacity is small, and it is difficult to achieve high load carrying capacity

[0006] The steering function of the "compact scissor-type aerial work lift truck" described in the patent number "200910209832.3" is to realize the steering of the whole machine through the hydraulic cylinder driving the linkage mechanism. This structural design has limitations in terms of steering angle and can only Realize the steering at a small range of angles, resulting in a large turning radius of the whole machine, making it difficult to work in a narrow space

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