Differential wheel limiting detection device and method

Abstract

According to the differential wheel limiting detection device and method, the rotating direction and the rotating speed of a wheel set can be limited in advance before the differential wheel moves in two directions and collides with a hard limit, so that the control performance of a vehicle is improved, the situation that an oil cylinder and the like fall off due to collision with the hard limit when the speed is high is avoided, and the problem that a traditional differential wheel set is poor in safety is solved. The system has the advantages of quick response, high safety, simple structure and the like, and is suitable for differential wheel control systems of equipment such as AGVs (Automatic Guided Vehicles) and mobile robots.

Description

A differential wheel limit detection device and method Technical Field

[0001] This invention relates to the field of differential gear technology, and in particular to a differential gear limit detection device and method. Background Technology

[0002] Differential gears are widely used in AGVs, mobile robots, and automated material handling equipment. Traditional differential gears typically use encoders for position feedback, combined with a PLC or controller to achieve closed-loop position control. However, under high-speed operation or emergency stop conditions, differential gear sets are prone to impacting mechanical hard limits due to inertia or control delays, leading to safety hazards such as cylinder detachment, gear set damage, and equipment shutdown. Existing technologies lack active warning and dynamic speed limiting mechanisms before collision with hard limits, resulting in poor safety. Summary of the Invention

[0003] The present invention aims to provide a differential wheel limit detection device and method that overcomes or at least partially solves the above-mentioned problems.

[0004] To achieve the above objectives, the technical solution of the present invention is specifically implemented as follows:

[0005] The first aspect of the present invention provides a differential wheel limit detection device, comprising:

[0006] The first limit detection device is set before the extreme position in the first direction of movement of the differential gear set;

[0007] The second limit detection device is set before the extreme position of the differential gear set in the second direction of movement;

[0008] The PLC controller is used to acquire the first trigger signal of the first limit detection device or the second trigger signal of the second limit detection device, generate control commands based on the first trigger signal or the second trigger signal, and send the control commands to the differential wheel group drive system to control the differential wheel group drive system to perform control operations.

[0009] A second aspect of the present invention provides a differential wheel limit detection device, comprising: a mounting plate 1, a right limit switch 2, a left limit switch 3, a limit block 4 and a limit block blocking member 5, and a PLC controller electrically connected to the right limit switch 2 and the left limit switch 3;

[0010] The mounting plate 1 is set at a preset position on the differential wheel assembly;

[0011] The limiting block 4 is configured to rotate synchronously with the differential wheel assembly;

[0012] The limiting block blocking member 5 is disposed on the mounting plate 1 and is used to block the limiting block;

[0013] The right travel switch 2 is mounted on the mounting plate 1 and is located before the right travel collision hard limit of the differential wheel set.

[0014] The left travel switch 3 is mounted on the mounting plate 1 and is located before the left travel collision hard limit of the differential wheel set.

[0015] The PLC controller is used to collect the first trigger signal of the right limit switch 2 or the second trigger signal of the left limit switch (3), generate control instructions according to the first trigger signal or the second trigger signal, and send the control instructions to the differential wheel drive system to control the differential wheel drive system to perform control operations.

[0016] Optionally, the first trigger signal and the second trigger signal are I / O signals.

[0017] Optionally, the PLC controller generates control instructions based on the first trigger signal or the second trigger signal in the following manner: the PLC controller generates control instructions that limit the running direction and speed of the differential wheel set based on the current motor operating status.

[0018] Optionally, the PLC controller configures the priorities of the first trigger signal and the second trigger signal according to a preset priority.

[0019] Optionally, the PLC controller is also used to feed back status signals according to a preset cycle.

[0020] A third aspect of the present invention provides a differential wheel limit detection method, comprising:

[0021] Collect the first trigger signal of the first limit detection device or the second trigger signal of the second limit detection device, which are set according to a preset method;

[0022] A control command is generated based on the first trigger signal or the second trigger signal, and the control command is sent to the differential wheel drive system to control the differential wheel drive system to perform control operations.

[0023] Optionally, the first limit detection device is positioned before the extreme position in the first direction of movement of the differential gear set; the second limit detection device is positioned before the extreme position in the second direction of movement of the differential gear set.

[0024] Optionally, generating control commands based on the first trigger signal or the second trigger signal includes:

[0025] Based on the current motor operating conditions, control commands are generated to limit the running direction and speed of the differential gear set.

[0026] Optionally, the method further includes: the PLC controller feeding back a status signal according to a preset cycle.

[0027] Therefore, the differential wheel limit detection device and method provided by this invention can limit the rotation direction and speed of the wheel set in advance before the differential wheel collides with the hard limit during bidirectional movement, thereby improving the control performance of the vehicle, avoiding collision with the hard limit at high speed, and preventing the cylinder and other parts from falling off. It solves the problem of poor safety of traditional differential wheel sets, and has the advantages of fast response, high safety and simple structure. It is suitable for differential wheel control systems of AGVs, mobile robots and other equipment. Attached Figure Description

[0028] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 is a schematic diagram of the differential wheel limit detection device provided in Embodiment 2 of the present invention;

[0030] Figure 2 is a schematic diagram of the installation structure of the differential wheel limit detection device provided in Embodiment 2 of the present invention;

[0031] Figure 3 is a flowchart of the differential wheel limit detection method provided in Embodiment 3 of the present invention. Detailed Implementation

[0032] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0033] Example 1

[0034] Figure 1 shows a schematic diagram of the differential wheel limit detection device provided in Embodiment 1 of the present invention. Referring to Figure 1, the differential wheel limit detection device provided in this embodiment of the present invention includes:

[0035] The first limit detection device is set before the extreme position in the first direction of movement of the differential gear set;

[0036] The second limit detection device is set before the extreme position of the differential gear set in the second direction of movement;

[0037] The PLC controller is used to acquire the first trigger signal of the first limit detection device or the second trigger signal of the second limit detection device, generate control commands based on the first trigger signal or the second trigger signal, and send the control commands to the differential wheel group drive system to control the differential wheel group drive system to perform control operations.

[0038] Specifically, this invention improves the safety and control precision of the equipment by setting two limit detection devices on the movement path of the differential wheel assembly and triggering a protection mechanism in advance before a collision hard limit is reached. This dynamically limits the movement direction and speed of the wheel assembly. The first and / or second limit detection devices can be one of a proximity switch, a photoelectric sensor, or a mechanical limit switch.

[0039] As an optional embodiment of the present invention, the first trigger signal and the second trigger signal are I / O signals. Specifically, the present invention uses I / O signals to reduce the communication load of the PLC.

[0040] As an optional embodiment of the present invention, the PLC controller generates control instructions based on the first trigger signal or the second trigger signal in the following manner: the PLC controller generates control instructions that limit the running direction and speed of the differential wheel assembly according to the current motor operating conditions. Specifically, after the PLC controller of the present invention acquires the limit detection trigger signal, it issues control instructions that limit the running direction and speed of the differential wheel assembly in conjunction with the current motor operating conditions. After receiving the control instructions that limit the direction and speed, the differential wheel assembly executes the corresponding task, which can dynamically limit the movement direction and speed of the differential wheel assembly, thereby ensuring that the rotation direction and speed of the wheel assembly are limited in advance before the bidirectional movement of the differential wheel assembly collides with the hard limit switch, thereby improving the control performance of the vehicle.

[0041] As an optional implementation of this invention, the PLC controller configures the priorities of the first trigger signal and the second trigger signal according to a preset priority. Specifically, this invention introduces two limit detection devices to limit the position and speed of the differential wheel set, based on the traditional differential wheel encoder position detection control algorithm. This avoids collisions with hard limit switches at high speeds, which could cause cylinders or other components to detach. This solves the problem of poor safety in traditional differential wheel sets. The limit detection devices of this invention have a higher protection priority than the encoder feedback protection priority of traditional differential wheel sets, ensuring the safety of the differential wheel set.

[0042] As an optional embodiment of the present invention, the PLC controller is further configured to provide a status signal feedback according to a preset cycle. Specifically, the limit detection device of the present invention provides a status signal feedback at a certain time cycle to ensure the synchronization and real-time performance of the protection.

[0043] Therefore, the differential wheel limit detection device provided in this embodiment of the invention can limit the rotation direction and speed of the wheel set in advance before the differential wheel collides with the hard limit during bidirectional movement, thereby improving the control performance of the vehicle, avoiding collision with the hard limit at high speed, and preventing the cylinder and other parts from falling off. It solves the problem of poor safety of traditional differential wheel sets, and has the advantages of fast response, high safety and simple structure. It is suitable for differential wheel control systems of AGVs, mobile robots and other equipment.

[0044] Example 2

[0045] Figure 2 shows a schematic diagram of the installation structure of the differential wheel limit detection device provided in Embodiment 1 of the present invention. Referring to Figure 2, the differential wheel limit detection device provided in this embodiment of the present invention includes: a mounting plate 1, a right limit switch 2, a left limit switch 3, a limit block 4 and a limit block blocking member 5, and a PLC controller electrically connected to the right limit switch 2 and the left limit switch 3.

[0046] Mounting plate 1 is set at a preset position on the differential gear set;

[0047] Limit block 4 is configured to rotate synchronously with the differential gear set;

[0048] The limiting block blocking component 5 is installed on the mounting plate 1 to block the limiting block;

[0049] The right travel switch 2 is mounted on the mounting plate 1, located before the right travel collision hard limit of the differential wheel set;

[0050] The left travel switch 3 is mounted on the mounting plate 1, located before the left travel collision hard limit of the differential wheel set.

[0051] The PLC controller is used to acquire the first trigger signal of the right limit switch 2 or the second trigger signal of the left limit switch 3, generate control commands based on the first trigger signal or the second trigger signal, and send control commands to the differential wheel set drive system to control the differential wheel set drive system to perform control operations.

[0052] Specifically, the present invention can install a mounting plate 1 on the differential wheel assembly to fix the corresponding limit detection device. By adding two limit detection devices (left and right limit switches), the present invention can limit the rotation direction and speed of the differential wheel assembly before it collides with the hard limit switch in both directions, thereby improving the vehicle's control performance.

[0053] As an optional embodiment of the present invention, the first trigger signal and the second trigger signal are I / O signals. Specifically, the present invention uses I / O signals to reduce the communication load of the PLC.

[0054] As an optional embodiment of the present invention, the PLC controller generates control instructions based on the first trigger signal or the second trigger signal in the following manner: the PLC controller generates control instructions that limit the running direction and speed of the differential wheel set according to the current motor operating conditions. Specifically, after the PLC controller of the present invention acquires the limit detection trigger signal, it issues control instructions that limit the running direction and speed of the differential wheel set in conjunction with the current motor operating conditions. After receiving the control instructions that limit the direction and speed, the differential wheel set executes the corresponding tasks, thereby ensuring that the rotation direction and speed of the wheel set are limited in advance before the bidirectional movement of the differential wheel set collides with the hard limit switch, thereby improving the control performance of the vehicle.

[0055] As an optional implementation of this invention, the PLC controller configures the priorities of the first trigger signal and the second trigger signal according to a preset priority. Specifically, this invention introduces two limit detection devices to limit the position and speed of the differential wheel set, based on the traditional differential wheel encoder position detection control algorithm. This avoids collisions with hard limit switches at high speeds, which could cause cylinders or other components to detach. This solves the problem of poor safety in traditional differential wheel sets. The limit detection devices of this invention have a higher protection priority than the encoder feedback protection priority of traditional differential wheel sets, ensuring the safety of the differential wheel set.

[0056] As an optional embodiment of the present invention, the PLC controller is further configured to provide a status signal feedback according to a preset cycle. Specifically, the limit detection device of the present invention provides a status signal feedback at a certain time cycle to ensure the synchronization and real-time performance of the protection.

[0057] Therefore, the differential wheel limit detection device provided in this embodiment of the invention can limit the rotation direction and speed of the wheel set in advance before the differential wheel collides with the hard limit during bidirectional movement, thereby improving the control performance of the vehicle, avoiding collision with the hard limit at high speed, and preventing the cylinder and other parts from falling off. It solves the problem of poor safety of traditional differential wheel sets, and has the advantages of fast response, high safety and simple structure. It is suitable for differential wheel control systems of AGVs, mobile robots and other equipment.

[0058] Example 3

[0059] Figure 3 shows a flowchart of the differential wheel limit detection method provided in Embodiment 3 of the present invention. This differential wheel limit detection method uses the above-mentioned device. The following is only a brief description of the flow of the differential wheel limit detection method. For other matters not covered, please refer to the relevant description in the above-mentioned differential wheel limit detection device. Referring to Figure 3, the differential wheel limit detection method provided in this embodiment of the present invention includes:

[0060] Collect the first trigger signal of the first limit detection device or the second trigger signal of the second limit detection device, which are set according to a preset method;

[0061] A control command is generated based on the first trigger signal or the second trigger signal, and the control command is sent to the differential wheel drive system to control the differential wheel drive system to perform control operations.

[0062] As an optional embodiment of the present invention, the first limit detection device is disposed before the extreme position of the differential gear set in the first direction of movement; the second limit detection device is disposed before the extreme position of the differential gear set in the second direction of movement.

[0063] As an optional embodiment of the present invention, the step of generating control instructions based on the first trigger signal or the second trigger signal includes:

[0064] Based on the current motor operating conditions, control commands are generated to limit the running direction and speed of the differential gear set.

[0065] As an optional implementation of the present invention, the differential wheel limit detection method provided in the present invention further includes: the PLC controller feeding back a status signal according to a preset cycle.

[0066] Therefore, the differential wheel limit detection method provided by the embodiments of the present invention can limit the rotation direction and speed of the wheel set in advance before the differential wheel collides with the hard limit during bidirectional movement, thereby improving the control performance of the vehicle, avoiding collision with the hard limit at high speed, which could cause the cylinder and other parts to fall off, and solving the problem of poor safety of traditional differential wheel sets. It has the advantages of fast response, high safety and simple structure, and is suitable for differential wheel control systems of AGVs, mobile robots and other equipment.

[0067] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0068] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A differential wheel limit detection device, characterized in that, include: The first limit detection device is set before the extreme position in the first direction of movement of the differential gear set; The second limit detection device is set before the extreme position of the differential gear set in the second direction of movement; The PLC controller is used to acquire the first trigger signal of the first limit detection device or the second trigger signal of the second limit detection device, generate control commands based on the first trigger signal or the second trigger signal, and send the control commands to the differential wheel group drive system to control the differential wheel group drive system to perform control operations.

2. A differential wheel limit detection device, characterized in that, include: The system comprises a mounting plate (1), a right-side travel switch (2), a left-side travel switch (3), a limit block (4), and a limit block blocking element (5), as well as a PLC controller electrically connected to the right-side travel switch (2) and the left-side travel switch (3). The mounting plate (1) is positioned at a preset location on the differential gear set. The limit block (4) is configured to rotate synchronously with the differential gear set. The limit block blocking element (5) is located on the mounting plate (1) to block the limit block. The right-side travel switch (2) is located on the mounting plate (1) before the right-side travel collision hard limit of the differential gear set. The left-side travel switch (3) is located on the mounting plate (1) before the left-side travel collision hard limit of the differential gear set. The PLC controller is used to acquire the first trigger signal of the right-side travel switch (2) or the second trigger signal of the left-side travel switch (3), generate control commands based on the first trigger signal or the second trigger signal, and send the control commands to the differential gear set drive system to control the differential gear set drive system to perform control operations.

3. The differential wheel limit detection device according to claim 1 or 2, characterized in that, The first trigger signal and the second trigger signal are I / O signals.

4. The differential wheel limit detection device according to claim 3, characterized in that, The PLC controller generates control instructions based on the first trigger signal or the second trigger signal in the following manner: The PLC controller generates control instructions that limit the running direction and speed of the differential wheel set based on the current motor operating status.

5. The differential wheel limit detection device according to claim 4, characterized in that, The PLC controller configures the priorities of the first trigger signal and the second trigger signal according to a preset priority.

6. The differential wheel limit detection device according to claim 1, characterized in that, The PLC controller is also used to feed back status signals according to a preset cycle.

7. A method for detecting the limit of a differential wheel, characterized in that, include: Collect the first trigger signal of the first limit detection device or the second trigger signal of the second limit detection device, which are set according to a preset method; A control command is generated based on the first trigger signal or the second trigger signal, and the control command is sent to the differential wheel drive system to control the differential wheel drive system to perform control operations.

8. The method according to claim 7, characterized in that, The first limit detection device is set before the extreme position of the differential gear set in the first direction of movement; the second limit detection device is set before the extreme position of the differential gear set in the second direction of movement.

9. The method according to claim 8, characterized in that, The step of generating control commands based on the first trigger signal or the second trigger signal includes: generating control commands that limit the running direction and speed of the differential wheel set based on the current motor operating status.

10. The method according to claim 9, characterized in that, Also includes: The PLC controller feeds back status signals according to a preset cycle.

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