CN108407859A - A kind of electric boosted cart system - Google Patents

Abstract

The invention discloses an electric power-assisted cart system, comprising: a power supply, a rocker potentiometer, a controller, a motor and a speed measuring sensor; the peripheral devices are a telescopic rocker and a cart platform. The rocker potentiometer is fixed on the rear end of the cart platform through the telescopic rocker. The swing of the telescopic rocker causes its own voltage to change. The rocker potentiometer adopts a two-axis or three-axis potentiometer. The change is transmitted to the controller, and the controller takes the voltage change as a reference value for the speed and direction of the drive motor, thereby driving the cart platform to move. At the same time, the controller receives the motor speed feedback measured by the speed sensor, and adjusts the push cart after processing by the controller. The movement of the car platform; the power supply supplies power to the rocker potentiometer, controller, motor and speed sensor. The invention can reduce labor intensity, improve work efficiency, and has convenient operation, stable work and strong anti-interference ability.

Description

An electric power-assisted cart system

technical field

The invention relates to the technical field of carts, in particular to an electric power-assisted cart system.

Background technique

The trolley is a vehicle that is pushed and pulled by manpower, and is the ancestor of all vehicles. Although the trolley material handling technology continues to develop, the trolley is still used as an indispensable tool for transportation. Due to the advantages of low cost, simple maintenance, convenient operation, and light weight, the handcart can work in places where motor vehicles are inconvenient, and it is very convenient to carry lighter items in a short distance. It has been widely used in production and life.

In factories, warehouses, construction sites, railway stations and other places with complex road conditions and small spaces, when transporting heavy goods, or in daily life, when people need to transport heavy goods over a certain distance, they often only rely on manpower. This traditional means of human transportation often has the problems of slow movement, high labor intensity and low work efficiency.

The existing electric carts have problems such as poor anti-interference ability and poor stability.

Contents of the invention

In view of this, the present invention provides an electric power-assisted cart system, which can reduce labor intensity, improve work efficiency, and is convenient to operate, stable in work and strong in anti-interference ability.

Specific embodiments of the present invention are as follows:

An electric power-assisted cart system, the cart system includes: a power supply, a rocker potentiometer, a controller, a motor, and a speed sensor; the peripheral device is a telescopic rocker and a cart platform;

The rocker potentiometer is fixed on the rear end of the cart platform through the telescopic rocker, and the swing of the telescopic rocker causes its own voltage to change. The rocker potentiometer adopts a biaxial or triaxial potentiometer, and the collected telescopic The voltage change of the rocker is transmitted to the controller, and the controller uses the voltage change as a reference value for the speed and direction of the drive motor, thereby driving the cart platform to move. At the same time, the controller receives the motor speed feedback measured by the speed sensor, through After processing, the controller regulates the movement of the cart platform; the power supply supplies power to the rocker potentiometer, controller, motor and speed sensor.

Further, the controller sets the gear speed according to the voltage variation interval of the telescopic rocker.

Further, the power supply adopts a rechargeable lithium battery.

Further, four motors are used to respectively drive the four wheels of the cart platform to rotate.

Beneficial effect:

1. The present invention uses a lightweight rocker to replace the handle of the heavy traditional cart, which can realize the functions of lightly operating the rocker to control the cart to move forward, backward, turn left and turn right. It is convenient and light to use, which not only reduces labor intensity, but also achieves easy The labor-saving effect improves work efficiency, and it also plays the role of a steering wheel, killing two birds with one stone, and is easy to operate; secondly, it adopts a closed-loop feedback system to adjust and control the movement of the cart at any time, and has strong anti-interference ability.

2. The gear speed designed by the present invention can be adjusted according to the needs of the user, so as to realize the function of the cart following the movement of the person.

3. The rechargeable lithium battery adopted in the present invention is easy to disassemble, and the working time is as long as six hours.

4. The present invention uses four motors to respectively drive the four wheels of the trolley platform to rotate to realize differential motion and better stability.

Description of drawings

Figure 1 is a schematic diagram of the cart system;

Figure 2 is a schematic diagram of the appearance and structure of the cart.

Among them, 1-telescopic rocker, 2-cart platform.

Detailed ways

The present invention will be described in detail below with reference to the accompanying drawings and examples.

Before the design of the electric power-assisted cart system, the overall construction of the cart is first completed. As shown in Figure 2, the cart platform adopts a layered design, using acrylic board as the cart platform, the upper layer is the cart-carrying platform, and the lower layer is the internal circuit Place the platform, and the cart circuit system is set inside the cart platform. The heavy handle in the traditional stroller is replaced by a lightweight rocker, which saves effort. Carrying out mechanical processing, the telescopic rocker 1 is mechanically coupled to the rear end of the upper plane of the cart platform 2, which can not only help save labor, but also have a beautiful appearance without losing the function of a traditional cart. The rocker potentiometer is installed on the telescopic rocker 1, and the length can be adjusted according to the demand, and the adaptability is strong. Four motors are used to respectively drive the four wheels of the cart platform 2 to rotate to realize differential motion.

The technical solution is based on controlling the running speed and steering mode of the cart according to the amplitude and angle of the swing of the rocker. The electric power-assisted cart system provided by the present invention, the hardware system is mainly composed of the given components, namely the rocker potentiometer, the controller, and the actuator. The motor drive module consists of a motor and a measuring element, that is, a speed sensor, and the controlled object is a cart platform, as shown in Figure 1.

The effect of the force is reflected by the rocker. When the rocker is slightly operated by manpower, the voltage change value collected by the rocker potentiometer is used as the reference value of the cart's running speed and direction, and as the input of the control system.

The dual-axis rocker potentiometer is adopted, and the direction coordinate system is composed of two axes, which control the forward, backward, left and right turns of the cart respectively, with high sensitivity and labor-saving.

The controller is a single-chip microcomputer, and the chip model is STM32F103ZET6. The STM32 single-chip microcomputer is used to complete the ADC analog signal acquisition, the clock pin sends PWM waves, and captures and counts the rising edge of the input signal.

The speed sensor adopts the Hall speed sensor, which converts the kinematic speed signal into a pulse electrical signal, and calculates the speed of the motor rotation by reading the number of pulses and the pulse period. The speed sensor is used as the feedback element of the closed-loop control system, and the real-time collected motor speed is fed back to the single-chip microcomputer to form a closed-loop control system. Four Hall speed sensors are used to collect the speeds of the four motors respectively.

The motor drive module adopts the L298N double H-bridge DC motor drive module, which is low in cost, simple in control principle, convenient to control the rotation direction and speed of the motor, and achieves differential motion through the control of the speed.

The motor adopts DC torque motor, which has long service life, low noise, large torque, stable and reliable performance, and can easily drive the cart to run. The motor drive is powered by a 12V power supply, the rocker potentiometer is powered by a 3.3V power supply, and the STM32 microcontroller is powered by a 5V power supply. Therefore, a 12V 16800mAh rechargeable lithium battery is selected as the power supply. The LM2596S DC-DC adjustable step-down module is used to step down the 12V voltage and convert it into 5V and 3.3V voltage.

When the telescopic rocker 1 is slightly operated by manpower, its own voltage changes, and the voltage change value collected by the rocker potentiometer is used as a reference value for the running speed and direction of the cart; the rocker potentiometer transmits the collected voltage change to the STM32 microcontroller. The STM32 single-chip microcomputer outputs the control signal, that is, PWM wave, and drives the motor to run through the drive module to drive the movement of the cart platform; at the same time, the motor speed is measured by the Hall speed sensor, and fed back to the STM32 single-chip microcomputer to form a closed-loop control system, which is adjusted by the incremental PID algorithm , to control the movement of cart platform 2. Using the principle of differential movement, when the speed of the left wheel is lower than the speed of the right wheel, the left wheel cannot follow the right wheel, thereby realizing left steering; similarly, realizing right steering.

The electric power-assisted cart system can realize the function of controlling the cart to move forward, backward, turn left and turn right by slightly operating the joystick, and the controller can set various gear speeds according to the voltage change interval of the telescopic rocker, and can be adjusted according to the operating rocker. The amplitude of the rod is controlled to make the movement of the cart more stable. In this embodiment, there are three gear speeds respectively when moving forward and backward, and when turning left and turning right, it is set to move at a constant speed, which is easier to realize and moves smoothly. Assume that the operator deflects the telescopic joystick 1 to the left, resulting in a change in its own voltage, and the two-axis joystick potentiometer collects the voltage change value and transmits it to the controller. Constantly control the running speed of the motor, so as to drive the cart platform 2 to turn left at the set constant speed. At the same time, the four Hall speed sensors collect the speeds of the four motors and feed them back to the controller, and adjust the drive after processing by the controller. The speed of motor, to reach the purpose of smooth movement of cart platform 2.

To sum up, the above are only preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims (4)

1. a kind of electric boosted cart system, which is characterized in that the cart system includes：Power supply, rocking bar potentiometer, control Device, motor and tachogenerator；Peripheral unit is flexible rocking bar and cart platform；

The rocking bar potentiometer is fixed on cart platform rear end by flexible rocking bar, and flexible rocking bar swing causes voltage to become Change, the rocking bar potentiometer uses twin shaft or three shaft potential meters, rocking bar potentiometer to transmit the flexible rocking bar voltage change of acquisition To controller, controller is using the voltage change as the reference value of driving motor running speed and direction, to drive cart Platform moves, while the controller receives the motor speed feedback measured from tachogenerator, after being handled via controller Adjust the movement of cart platform；The power supply is rocking bar potentiometer, controller, motor and tachogenerator power supply.

2. electric boosted cart system as described in claim 1, which is characterized in that the controller is according to flexible rocking bar voltage Gear speed is arranged in constant interval.

3. electric boosted cart system as described in claim 1, which is characterized in that the power supply is using chargeable lithium electricity Pond.

4. electric boosted cart system as described in claim 1, which is characterized in that it is flat to respectively drive cart using four motors Four vehicle wheel rotations of platform.