CN112009269B - Control system of all-dimensional driving mechanism of scissor maintenance operation device - Google Patents
Control system of all-dimensional driving mechanism of scissor maintenance operation device Download PDFInfo
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- CN112009269B CN112009269B CN202011121260.6A CN202011121260A CN112009269B CN 112009269 B CN112009269 B CN 112009269B CN 202011121260 A CN202011121260 A CN 202011121260A CN 112009269 B CN112009269 B CN 112009269B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
- B62D11/04—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of separate power sources
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/40—Working vehicles
- B60L2200/42—Fork lift trucks
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
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- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The application discloses cut fork and maintain control system of all-round actuating mechanism of operation device, including interface and CAN communication module, driving mode selection module, function mode selection module, failure diagnosis module, parameter calibration module, chassis walking control module, drive motor control module and steering motor control module and constitute, accomplish speed closed-loop control, parking, positive and negative rotation, start and speed reduction process smooth control, turn to the control of process both sides wheel differential jointly. Has the following advantages: the omnibearing driving mechanism is characterized in that four electric driving assembly mechanisms are arranged on a chassis of the whole machine, and the control system controls the rotation directions of four electric driving assembly walking driving motors and steering driving motors, so that four self-walking functions of straight walking, oblique walking, transverse walking, in-situ steering and the like of the whole machine are finally realized.
Description
Technical Field
The invention discloses a control system of an all-dimensional driving mechanism of a scissor maintenance operation device, and belongs to the technical field of motor driving.
Background
The function that present scissors maintain operation device's self-walking mechanism realized is single, and the majority is leading to realizing the straight line walking function. The electro-hydraulic integrated control is mainly used for realizing the function, and the driving is mainly in a mode of front wheel driving, rear wheel steering or coexistence of front wheel driving and steering. The front wheels of some vehicle types are hydraulically or electrically driven, and the rear wheels are hydraulically steered to realize motion control. Limited by structural limitation, the turning radius of the whole machine is large, the transition speed is low, the operating environment is single, and the operating efficiency is low.
The utility model patent number "201910067037.9", the patent name "light-weight small rotary steering wheel" discloses a light-weight small rotary steering wheel, which comprises a driving wheel mounting plate and a driving wheel module arranged on the driving wheel mounting plate, wherein the driving wheel module comprises a driving device, a driving assembly connected with the driving device and a driving wheel connected with the driving assembly; the driving assembly is correspondingly provided with a rotating mechanism, a steering driving assembly is arranged on the driving wheel mounting plate corresponding to the rotating mechanism, the driving device consists of a motor, the driving assembly comprises a driving wheel reduction gearbox and a driving wheel input shaft connected to the driving wheel reduction gearbox, the driving wheel is directly connected to the driving wheel reduction gearbox, the rotating mechanism comprises an outer rotating mechanism gear ring and an inner rotating mechanism ring which are correspondingly arranged, the steering driving assembly comprises a steering gear matched with the outer rotating mechanism gear ring, the steering driving assembly further comprises a steering motor and a steering speed reducer, and a detection switch is further arranged on the driving wheel mounting plate.
The invention patent of patent number "200910209832.3", patent name "compact structure type scissor type aerial work lifting vehicle" discloses a compact structure type scissor type aerial work lifting vehicle, comprising: the chassis assembly is provided with a rectangular main body, wherein one end of the rectangular main body of the chassis assembly is provided with a pair of wheels, and the other end of the rectangular main body of the chassis assembly is provided with a pair of steering wheels; a shear arm assembly having an overall shape to be embedded inside the chassis assembly and to reserve a space for the pair of steering wheels; a platform assembly disposed at a top end of the shear arm assembly and moving with the shear arm assembly; the hydraulic driving device is hinged in the shear arm assembly to drive the platform assembly to move up and down; a steering system connected to the pair of steering wheels and disposed at a front end of the scissor arm assembly; and a pit protection safety support plate opening device arranged on at least one side of the chassis assembly. The axis of a steering oil cylinder of the steering system is not directly connected with a hinge point of a steering connecting rod and deviates a certain distance forwards, and the steering system is provided with a slider-slideway bending moment eliminating device.
On the light-weighted removal chassis such as "light-weight type small circle steering wheel" mainly used AGV dolly that patent number "201910067037.9" expounded, structural can seeing out from the patent, it turns to the realization of function can realize 360 rotations through turning to motor drive gear pair, the position that turns to the motor installation is equipped the chassis fixed plate for the removal on, the pinion that turns to the gear pair is installed in the pivot that turns to the motor, the gear wheel of turning to the gear pair is installed on the box of the reducing gear box of drive wheel, and the realization that the complete machine turned to is realized in cooperation between them. The walking function is realized by driving a right-angle steering gear pair through a walking driving motor, converting the vertical driving force of the walking driving motor into the horizontal driving force in the tire walking direction, and realizing the rotation driving of the tire. Although the structure can realize the function fusion of steering and walking, the structure has 3 defects: firstly, in the installation process, the equipment chassis needs to leave enough space to accommodate the steering driving motor and the walking driving motor. Secondly, the right-angle gear pair driven by walking has complex manufacturing process and higher cost, thirdly, the bearing capacity is small, and the high load bearing capacity is not easy to realize.
The steering function of the 'compact-structure scissor-type aerial work lifting vehicle' described in the patent number '200910209832.3' is that the steering of the whole machine is realized by a hydraulic oil cylinder driving link mechanism, the structural design has limitation in steering angle, and only steering at a small angle range can be realized, so that the turning radius of the whole machine is larger, and the whole machine is not easy to operate in a narrow space.
In view of the above disadvantages, there is a need for an omnidirectional driving mechanism and a control system to solve the above disadvantages and to meet the requirement of high efficiency operation.
Disclosure of Invention
The invention aims to solve the technical problem and provides a control system of an omnibearing driving mechanism of a shearing fork maintenance operation device, wherein the omnibearing driving mechanism is that four electric driving assembly mechanisms are arranged on a chassis of the whole machine and controls the rotation directions of four electric driving assembly walking driving motors and a steering driving motor through the control system, and finally four self-walking functions of straight walking, oblique walking, transverse walking, in-situ steering and the like of the whole machine are realized.
In order to solve the technical problems, the invention adopts the following technical scheme:
a control system of an all-directional driving mechanism of a scissor maintenance operation device comprises an interface, a CAN communication module, a driving mode selection module, a function mode selection module, a fault diagnosis module, a parameter calibration module, a chassis walking control module, a driving motor control module and a steering motor control module, and is used for jointly completing speed closed-loop control, parking, forward and reverse rotation, starting and deceleration process smooth control and steering process two-side wheel differential control.
Further, the drive motor control module comprises a left front drive motor control unit, the left front drive motor control unit comprises a driver MDC1460-1, a pin 2 of the driver MDC1460-1 is connected with one end of a coil of a cut-off relay KM1, the other end of the coil of the cut-off relay KM1 is connected with the anode of a 24V power supply, pins 5 and 6 of the driver MDC1460-1 are connected with an interface and a CAN communication module, a pin 13 of the driver MDC1460-1 is connected with a pin B2 of a left front drive motor M1, a pin 1 of the driver MDC1460-1 is connected with a pin B1 of a left front drive motor M1, a pin M-of the driver MDC1460-1 is connected with a pin A734 of a left front drive motor M38723, a pin M + of the driver MDC1460-1 is connected with a pin A1 of the left front drive motor M1, a pin Pwrrol of the driver MDC1460-1 is connected with one end of a fuse F13, and the other end, the Ground pin of the driver MDC1460-1 is connected with the negative pole of a 24V power supply, the VMot pin of the driver MDC1460-1 is connected with one end of a switch of a breaking relay KM1, the other end of the switch of the breaking relay KM1 is connected with one end of a fuse F12, the other end of the fuse F12 is connected with the positive pole of the 24V power supply, the pin F1 of the front left driving motor M1 is connected with the negative pole of the 24V power supply, the pin F2 of the front left driving motor M1 is connected with one end of a switch of a breaking relay KM1, the other end of the switch of the breaking relay KM1 is connected with one end of a fuse F.
Further, the drive motor control module further comprises a right front drive motor control unit, the right front drive motor control unit comprises a driver MDC1460-2, a pin 2 of the driver MDC1460-2 is connected with one end of a coil of a breaking relay KM2, the other end of the coil of the breaking relay KM2 is connected with the anode of a 24V power supply, pins 5 and 6 of the driver MDC1460-2 are connected with an interface and a CAN communication module, a pin 13 of the driver MDC1460-2 is connected with a pin B2 of a right front drive motor M2, a pin 1 of the driver MDC1460-2 is connected with a pin B1 of a right front drive motor M2, a pin A2 of a right front drive motor M2 is connected with a pin M + of the driver MDC1460-2, a pin A1 of the right front drive motor M2 is connected with a pin PwrCtrol of the driver MDC1460-2, a fuse F23 is connected with a fuse at one end of the PwrCtrL 23, and the anode of the 24V power supply of, the Ground pin of the driver MDC1460-2 is connected with the negative pole of a 24V power supply, the VMot pin of the driver MDC1460-2 is connected with one end of a switch of a breaking relay KM2, the other end of the switch of the breaking relay KM2 is connected with one end of a fuse F22, the other end of the fuse F22 is connected with the positive pole of the 24V power supply, the pin F1 of the right front driving motor M2 is connected with the negative pole of the 24V power supply, the pin F2 of the right front driving motor M2 is connected with one end of a switch of a breaking relay KM2, the other end of the switch of the breaking relay KM2 is connected with one end of a fuse.
Further, the drive motor control module also comprises a left rear drive motor control unit, the left rear drive motor control unit comprises a driver MDC1460-3, a2 pin of the driver MDC1460-3 is connected with one end of a coil of a breaking relay KM3, the other end of the coil of the breaking relay KM3 is connected with the anode of a 24V power supply, a 5 pin and a 6 pin of the driver MDC1460-3 are connected with an interface and a CAN communication module, a 13 pin of the driver MDC1460-3 is connected with a B2 pin of a left rear drive motor M3, a1 pin of the driver MDC1460-3 is connected with a B1 pin of a left rear drive motor M3, an M-pin of the driver MDC1460-3 is connected with an A2 pin of a left rear drive motor M3, an M + pin of the driver MDC1460-3 is connected with an A1 pin of the left rear drive motor M3, a PwrCtrol pin of the driver 1460-3 is connected with a fuse at one end of a fuse F33, and the anode of, the Ground pin of the driver MDC1460-3 is connected with the negative pole of a 24V power supply, the VMot pin of the driver MDC1460-3 is connected with one end of a switch of a breaking relay KM3, the other end of the switch of the breaking relay KM3 is connected with one end of a fuse F32, the other end of the fuse F32 is connected with the positive pole of the 24V power supply, the F1 pin of the left rear driving motor M3 is connected with the negative pole of the 24V power supply, the F2 pin of the left rear driving motor M3 is connected with one end of a switch of a breaking relay KM3, the other end of the switch of the breaking relay KM3 is connected with one end of a fuse F.
Further, the drive motor control module also comprises a right rear drive motor control unit, the right rear drive motor control unit comprises a driver MDC1460-4, a2 pin of the driver MDC1460-4 is connected with one end of a coil of a breaking relay KM4, the other end of a coil of a breaking relay KM4 is connected with the anode of a 24V power supply, 5 pins and 6 pins of the driver MDC1460-4 are connected with an interface and a CAN communication module, a 13 pin of the driver MDC1460-4 is connected with a B2 pin of a right rear drive motor M4, a1 pin of the driver MDC1460-4 is connected with a B1 pin of a right rear drive motor M4, an M-pin of the driver MDC1460-4 is connected with an A2 pin of a right rear drive motor M4, an M + pin of the driver MDC1460-4 is connected with an A1 pin of the right rear drive motor M4, a PwrCtrol pin of the driver 1460-4 is connected with a fuse at one end of a fuse F43, and a 24V power supply, the Ground pin of the driver MDC1460-4 is connected with the negative pole of a 24V power supply, the VMot pin of the driver MDC1460-4 is connected with one end of a switch of a breaking relay KM4, the other end of the switch of the breaking relay KM4 is connected with one end of a fuse F42, the other end of the fuse F42 is connected with the positive pole of the 24V power supply, the F1 pin of the right rear driving motor M4 is connected with the negative pole of the 24V power supply, the F2 pin of the right rear driving motor M4 is connected with one end of a switch of a breaking relay KM4, the other end of the switch of the breaking relay KM4 is connected with one end of a fuse F.
Further, the steering motor control module further comprises a front wheel steering motor control unit, the front wheel steering motor control unit comprises a driver MDC2230-1, a pin 2 of the driver MDC2230-1 is connected with one end of a coil of a breaking relay KM5, one end of a coil of a breaking relay KM5 is connected with the positive pole of a 24V power supply, pins 5 and 13 of the driver MDC2230-1 are connected with an interface and CAN communication module, a pin M1+ of the driver MDC2230-1 is connected with a pin F1 of a front left steering motor M5, a pin M1-of the driver MDC2230-1 is connected with a pin F2 of a front left steering motor M5, a pin M2+ of the driver MDC2230-1 is connected with a pin F1 of a front right steering motor M6, and a pin M2-of the driver MDC2230-1 is connected with a pin F2 of the front right steering motor M6.
Furthermore, the group pin of the driver MDC2230-1 is connected to the negative electrode of the 24V power supply, the VMot pin of the driver MDC2230-1 is connected to one end of a switch of a cut-off relay KM5, the other end of the switch of the cut-off relay KM5 is connected to one end of a fuse F52, the other end of the fuse F52 is connected to the positive electrode of the 24V power supply, the PwrCtrol pin of the driver MDC2230-1 is connected to one end of a fuse F53, and the other end of the fuse F53 is connected to the positive electrode of the 24V power supply.
Further, the steering motor control module further comprises a rear wheel steering motor control unit, the rear wheel steering motor control unit comprises a driver MDC2230-2, a pin 2 of the driver MDC2230-2 is connected with one end of a coil of a breaking relay KM6, the other end of the coil of the breaking relay KM6 is connected with the positive pole of a 24V power supply, pins 5 and 13 of the driver MDC2230-2 are connected with an interface and a CAN communication module, a pin M1+ of the driver MDC2230-2 is connected with a pin F1 of a left rear steering motor M7, a pin M1-of the driver MDC2230-2 is connected with a pin F2 of the left rear steering motor M7, a pin M2+ of the driver MDC2230-2 is connected with a pin F1 of a right rear steering motor M8, and a pin M2-of the driver MDC2230-2 is connected with a pin F2 of the right rear steering motor M8.
Furthermore, the group pin of the driver MDC2230-2 is connected to the negative electrode of the 24V power supply, the VMot pin of the driver MDC2230-2 is connected to one end of a switch of a cut-off relay KM6, the other end of the switch of the cut-off relay KM6 is connected to one end of a fuse F62, the other end of the fuse F62 is connected to the positive electrode of the 24V power supply, the PwrCtrol pin of the driver MDC2230-2 is connected to one end of a fuse F63, and the other end of the fuse F63 is connected to the positive electrode of the 24V power supply.
Furthermore, the chassis walking control module further comprises a drive controller HuaHai-U3, the drive controller HuaHai-U3 is connected with an encoder 1, an encoder 2, an encoder 3 and an encoder 4, pins 50 and 69 of the drive controller HuaHai-U3 are connected with an interface and a CAN communication module, pin 3 of the drive controller HuaHai-U3 is connected with one end of an ignition switch, the other end of the ignition switch is connected with the anode of a 24V power supply, pin 4 of the drive controller HuaHai-U3 is connected with one end of a fuse F43, the other end of the fuse F43 is connected with the anode of the 24V power supply, pin 6 of the drive controller HuaHai-U3 is connected with one end of an emergency stop switch, and the other end of the emergency stop switch is connected with the anode of the 24V.
By adopting the technical scheme, compared with the prior art, the invention has the following technical effects:
the omnibearing driving mechanism and the control system thereof successfully realize four self-walking functions of straight walking, oblique line walking, transverse walking, in-situ steering and the like of the whole machine, meet the requirements of diversified operating environments, shorten the transition operating time and improve the operating efficiency.
Drawings
In order to more clearly illustrate the detailed description of the invention or the technical solutions in the prior art, the drawings that are needed in the detailed description of the invention or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.
Fig. 1 to 4 are schematic structural views of an omni-directional motor driving mechanism according to the present invention;
FIG. 5 is a block diagram of a control system of the motor drive mechanism of the present invention;
fig. 6 to 12 are electrical schematic diagrams of a control system of the motor drive mechanism of the present invention.
Detailed Description
The driving mechanism further comprises a steering large gear 7 and a steering large gear fixing flange 5, the steering large gear 7 is fixed on the steering large gear fixing flange 5 through a bolt, the steering large gear fixing flange 5 is connected with a fixing plate of the bogie sleeve 3, and the steering large gear 7 is meshed with a small gear 26 of an electric driving assembly to form a steering executing mechanism of the electric driving assembly mechanism.
The driving mechanism further comprises four motor driving mechanism assemblies, the motor driving mechanism assemblies are installed in the bogie sleeve 3 and are respectively a left rear motor driving mechanism assembly 4, a right front motor driving mechanism assembly 8, a left front motor driving mechanism assembly 17 and a right rear motor driving mechanism assembly 18, the four motor driving mechanism assemblies are identical in structure, the installation directions of the left front motor driving mechanism assembly 17 and the left rear motor driving mechanism assembly 4 are identical, and the installation modes of the right front motor driving mechanism assembly 8 and the right rear motor driving mechanism assembly 18 are identical and are symmetrically installed with the left rear motor driving mechanism assembly 4.
As shown in fig. 5 to 12, a control system of an omnidirectional driving mechanism of a scissor maintenance operation device comprises an interface, a CAN communication module, a driving mode selection module, a function mode selection module, a fault diagnosis module, a parameter calibration module, a chassis walking control module, a driving motor control module and a steering motor control module, and the control system CAN jointly complete functions of speed closed-loop control, parking, forward and reverse rotation, smooth control of starting and deceleration processes, differential control of wheels on two sides of a steering process and the like.
The interface and the CAN communication module are mainly used for external communication and have the following functions:
(1) the emergency stop signal is received to realize the emergency stop of the chassis system of the lift truck, the power supplies of the driving motor and the steering motor are cut off, and the brake is released to stop safely;
(2) the system is communicated with a whole vehicle instrument signal, receives commands of the whole vehicle instrument, such as signals of a control mode, a vehicle speed, forward and backward running, steering, parking and the like, and can also transmit relevant information of a chassis walking system to the instrument for displaying;
(3) receiving a signal of a power battery, and monitoring the state of the power battery, thereby realizing different control strategies;
(4) the driving motors are controlled to control signals for 4 driving motors, so that the walking control of the chassis is realized;
(5) and controlling the steering motor, and controlling the 4 steering motor control systems to realize steering.
The driving mode selection module is used for converting the driving mode into the forward, backward and parking braking modes of the chassis system according to the instruction of the instrument.
The function mode selection module realizes different control modes of the steering motor according to the instruction of the instrument, such as front wheel steering, transverse walking, pivot steering and oblique walking.
The chassis walking control module is a core, and is mainly used for completing the generation of a target rotating speed of a driving motor and the generation of a target steering position according to a control mode and an instruction of an instrument, realizing the brake control of the motor according to a power battery pack and a parking state, and ensuring the safety of a lifting platform.
The driving motor control module receives an instruction from the chassis walking control module, performs PID control on the vehicle speed, and realizes speed difference control of the motors on two sides according to the steering angle, thereby ensuring the motion coordination of the platform. In the acceleration and deceleration processes, the rotating speed lifting slope of the motor is controlled, the purpose of smooth control is achieved, and the travelling comfort of the platform is guaranteed.
The steering motor control module receives instructions from the chassis walking control module, and controls the swing angles of 4 wheels according to different steering modes to realize steering. The synchronous control of steering can realize the simultaneous action of 4 vehicles, thereby improving the steering efficiency.
The fault diagnosis module mainly completes power-on self-detection of the controller, monitoring of various state parameters in the operation process, and giving an alarm or fault signal according to an alarm threshold value. The power-on self-test comprises the following steps: the functions of the various parts of the controller, the completeness of the various physical connections, etc. are checked. The fault alarm module internally comprises a chassis-driven model, and gives alarm or error information through the opposite sides of each parameter and the model parameter in actual operation and through threshold control.
The parameter and calibration function module is mainly used for storing all set parameters of the controller and classifying and storing the parameters according to the parameter properties, and comprises the following steps: actual operating parameter set, input/output parameter set, mode setting parameter set, alarm parameter set, error and fault parameter set, and overall machine setting parameter set. All the parameters can be read and set through debugging software, and the parameter calibration function is realized.
The driving motor control module comprises a left front driving motor control unit, the left front driving motor control unit comprises a driver MDC1460-1, a pin 2 of the driver MDC1460-1 is connected with one end of a coil of a breaking relay KM1, the other end of the coil of the breaking relay KM1 is connected with the anode of a 24V power supply, pins 5 and 6 of the driver MDC1460-1 are connected with an interface and a CAN communication module, a pin 13 of the driver MDC1460-1 is connected with a pin B2 of a left front driving motor M1, a pin 1 of the driver MDC1460-1 is connected with a pin B1 of a left front driving motor M1, a pin A-2 of a left front driving motor M1 is connected with a pin M + of the driver MDC1460-1, a pin PwrCtrol of the driver 1460-1 is connected with a pin A1 of a left front driving motor M1, one end of a fuse 13 is connected with a PwrCtrco-pole of the other end of the fuse F13, the Ground pin of the driver MDC1460-1 is connected with the negative pole of a 24V power supply, the VMot pin of the driver MDC1460-1 is connected with one end of a switch of a breaking relay KM1, the other end of the switch of the breaking relay KM1 is connected with one end of a fuse F12, the other end of the fuse F12 is connected with the positive pole of the 24V power supply, the pin F1 of the front left driving motor M1 is connected with the negative pole of the 24V power supply, the pin F2 of the front left driving motor M1 is connected with one end of a switch of a breaking relay KM1, the other end of the switch of the breaking relay KM1 is connected with one end of a fuse F.
The drive motor control module also comprises a right front drive motor control unit, the right front drive motor control unit comprises a driver MDC1460-2, a pin 2 of the driver MDC1460-2 is connected with one end of a coil of a breaking relay KM2, the other end of the coil of the breaking relay KM2 is connected with the anode of a 24V power supply, pins 5 and 6 of the driver MDC1460-2 are connected with an interface and CAN communication module, a pin 13 of the driver MDC1460-2 is connected with a pin B2 of a right front drive motor M2, a pin 1 of the driver MDC1460-2 is connected with a pin B1 of a right front drive motor M2, a pin M-of the driver MDC1460-2 is connected with a pin A2 of a right front drive motor M2, a pin M + of the driver MDC1460-2 is connected with a pin A1 of a right front drive motor M2, a pin PwrCtrROL of the driver 1460-2 is connected with one end of a fuse F23, and a fuse 23 of the other, the Ground pin of the driver MDC1460-2 is connected with the negative pole of a 24V power supply, the VMot pin of the driver MDC1460-2 is connected with one end of a switch of a breaking relay KM2, the other end of the switch of the breaking relay KM2 is connected with one end of a fuse F22, the other end of the fuse F22 is connected with the positive pole of the 24V power supply, the pin F1 of the right front driving motor M2 is connected with the negative pole of the 24V power supply, the pin F2 of the right front driving motor M2 is connected with one end of a switch of a breaking relay KM2, the other end of the switch of the breaking relay KM2 is connected with one end of a fuse.
The drive motor control module also comprises a left rear drive motor control unit, the left rear drive motor control unit comprises a driver MDC1460-3, a pin 2 of the driver MDC1460-3 is connected with one end of a coil of a cut-off relay KM3, the other end of the coil of the cut-off relay KM3 is connected with the anode of a 24V power supply, pins 5 and 6 of the driver MDC1460-3 are connected with an interface and a CAN communication module, a pin 13 of the driver MDC1460-3 is connected with a pin B2 of a left rear drive motor M3, a pin 1 of the driver MDC1460-3 is connected with a pin B1 of a left rear drive motor M3, a pin M-of the driver MDC1460-3 is connected with a pin A2 of a left rear drive motor M3, a pin M + of the driver MDC1460-3 is connected with a pin A1 of the left rear drive motor M3, a pin PwrCtrrol of the driver 1460-3 is connected with one end of a fuse F33, and the other end, the Ground pin of the driver MDC1460-3 is connected with the negative pole of a 24V power supply, the VMot pin of the driver MDC1460-3 is connected with one end of a switch of a breaking relay KM3, the other end of the switch of the breaking relay KM3 is connected with one end of a fuse F32, the other end of the fuse F32 is connected with the positive pole of the 24V power supply, the F1 pin of the left rear driving motor M3 is connected with the negative pole of the 24V power supply, the F2 pin of the left rear driving motor M3 is connected with one end of a switch of a breaking relay KM3, the other end of the switch of the breaking relay KM3 is connected with one end of a fuse F.
The drive motor control module also comprises a right rear drive motor control unit, the right rear drive motor control unit comprises a driver MDC1460-4, a pin 2 of the driver MDC1460-4 is connected with one end of a coil of a breaking relay KM4, the other end of the coil of the breaking relay KM4 is connected with the anode of a 24V power supply, pins 5 and 6 of the driver MDC1460-4 are connected with an interface and a CAN communication module, a pin 13 of the driver MDC1460-4 is connected with a pin B2 of a right rear drive motor M4, a pin 1 of the driver MDC1460-4 is connected with a pin B1 of a right rear drive motor M4, a pin M-of the driver MDC1460-4 is connected with a pin A2 of a right rear drive motor M4, a pin M + of the driver MDC1460-4 is connected with a pin A1 of the right rear drive motor M4, a pin PwrCtrrol of the driver 1460-4 is connected with one end of a fuse F43, and the other end of the anode of, the Ground pin of the driver MDC1460-4 is connected with the negative pole of a 24V power supply, the VMot pin of the driver MDC1460-4 is connected with one end of a switch of a breaking relay KM4, the other end of the switch of the breaking relay KM4 is connected with one end of a fuse F42, the other end of the fuse F42 is connected with the positive pole of the 24V power supply, the F1 pin of the right rear driving motor M4 is connected with the negative pole of the 24V power supply, the F2 pin of the right rear driving motor M4 is connected with one end of a switch of a breaking relay KM4, the other end of the switch of the breaking relay KM4 is connected with one end of a fuse F.
The steering motor control module further comprises a front wheel steering motor control unit, the front wheel steering motor control unit comprises a driver MDC2230-1, a pin 2 of the driver MDC2230-1 is connected with one end of a coil of a breaking relay KM5, one end of a coil of a breaking relay KM5 is connected with the positive pole of a 24V power supply, pins 5 and 13 of the driver MDC2230-1 are connected with an interface and CAN communication module, a pin M1+ of the driver MDC2230-1 is connected with a pin F1 of a front left steering motor M5, a pin M1-of the driver MDC2230-1 is connected with a pin F2 of the front left steering motor M5, a pin M2+ of the driver MDC2230-1 is connected with a pin F1 of a front right steering motor M6, and a pin M2-of the driver MDC2230-1 is connected with a pin F2 of the front right steering motor M6.
The Ground pin of the driver MDC2230-1 is connected with the negative electrode of a 24V power supply, the VMot pin of the driver MDC2230-1 is connected with one end of a switch of a cut-off relay KM5, the other end of the switch of the cut-off relay KM5 is connected with one end of a fuse F52, the other end of the fuse F52 is connected with the positive electrode of the 24V power supply, the PwrCtrol pin of the driver MDC2230-1 is connected with one end of the fuse F53, and the other end of the fuse F53 is connected with the positive electrode of the.
The steering motor control module further comprises a rear wheel steering motor control unit, the rear wheel steering motor control unit comprises a driver MDC2230-2, a pin 2 of the driver MDC2230-2 is connected with one end of a coil of a breaking relay KM6, the other end of a coil of a breaking relay KM6 is connected with the positive pole of a 24V power supply, pins 5 and 13 of the driver MDC2230-2 are connected with an interface and a CAN communication module, a pin M1+ of the driver MDC2230-2 is connected with a pin F1 of a left rear steering motor M7, a pin M1-of the driver MDC2230-2 is connected with a pin F2 of the left rear steering motor M7, a pin M2+ of the driver MDC2230-2 is connected with a pin F1 of a right rear steering motor M8, and a pin M2-of the driver MDC2230-2 is connected with a pin F2 of the right rear steering motor M.
The Ground pin of the driver MDC2230-2 is connected with the negative electrode of a 24V power supply, the VMot pin of the driver MDC2230-2 is connected with one end of a switch of a cut-off relay KM6, the other end of the switch of the cut-off relay KM6 is connected with one end of a fuse F62, the other end of the fuse F62 is connected with the positive electrode of the 24V power supply, the PwrCtrol pin of the driver MDC2230-2 is connected with one end of the fuse F63, and the other end of the fuse F63 is connected with the positive electrode of the.
The chassis walking control module further comprises a driving controller HuaHai-U3, the driving controller HuaHai-U3 is connected with an encoder 1, an encoder 2, an encoder 3 and an encoder 4, pins 50 and 69 of the driving controller HuaHai-U3 are connected with an interface and CAN communication module, pin 3 of the driving controller HuaHai-U3 is connected with one end of an ignition switch, the other end of the ignition switch is connected with the anode of a 24V power supply, pin 4 of the driving controller HuaHai-U3 is connected with one end of a fuse F43, the other end of the fuse F43 is connected with the anode of the 24V power supply, pin 6 of the driving controller HuaHai-U3 is connected with one end of an emergency stop switch, and the other end of the emergency stop switch is connected with the anode of the 24.
The driving mechanism is provided with four walking modes, namely a straight walking mode, an oblique line walking mode, a transverse walking mode and an in-situ steering mode, and the four walking modes are controlled by a control system in the following concrete implementation process:
a straight line walking mode:
the linear walking mode is that the driving direction of the wheel assemblies on the four electric driving mechanism assemblies is consistent with the length direction of the whole machine, at the moment, the rotating direction of the left two-wheel walking driving motor is opposite to that of the right two-wheel walking driving motor, and the whole machine can move forward and backward according to requirements. In the advancing process, two steering modes such as front wheel steering or rear wheel steering can be adopted for direction adjustment, so that the reliability of straight line walking is ensured. In order to realize steering, if the direction is adjusted by adopting front wheel steering, the rotating directions of the steering driving motors of the left and right wheels are opposite, for example, the steering to the right is realized, the left steering driving motor rotates clockwise, the left wheel rotates to the right, the right steering driving motor rotates anticlockwise, and the right wheel rotates to the right. When the steering is reversed, the left motor and the right motor are just installed in opposite directions.
Oblique line walking mode:
the oblique line walking mode is a walking operation mode in which the driving direction of the wheel assemblies on the four electric driving mechanism assemblies forms a certain included angle with the length direction of the whole machine. At this time, the turning phenomenon is not allowed to occur during traveling. The control method can realize the oblique advance and retreat in the left direction and the oblique advance and retreat in the right direction according to requirements. In the travel control, the rotation directions of the left two travel driving motors are the same, and the rotation direction of the right two travel driving motors is opposite to the rotation direction of the left walk driving motor. When the angle of the wheel is adjusted, the four steering motors work simultaneously, the rotating directions of the two steering motors on the left side are consistent, and on the contrary, the direction adjustment of the steering motors is reasonably controlled according to the world advancing direction, when the belt is adjusted to the required oblique line walking angle, the steering motors automatically stop working, and at the moment, oblique line walking operation can be carried out.
Transverse walking mode:
and the transverse walking mode is a walking operation mode in which the driving direction of the wheel assemblies on the four electric driving mechanism assemblies is vertical to the length direction of the whole machine. At this time, the rotation directions of the steering drive motors are the same as the rotation operation directions of the two steering drive motors which are diagonal to each other. The four wheels rotate outwards simultaneously until the wheels rotate to a state that the length direction of the whole machine is vertical, and the steering driving motor stops working. When the vehicle moves forwards or backwards, the driving mode of the walking driving motors is that the operation rotating directions of the two rear wheel walking driving motors (the front and back division is consistent with the linear walking time scale) are consistent, and the operation selecting and installing directions of the two front wheel walking driving motors are consistent and are opposite to the operation rotating directions of the two rear wheel walking driving motors.
In the pivot steering mode:
the pivot steering mode is an operation mode in which the driving directions of the wheel assemblies on the four electric driving mechanism assemblies do rotary motion around the focal point of the intersection line of the four tires. The working mode firstly adjusts the angles of the four wheels relative to the length direction of the whole machine. The directions of the four wheels are all in the tangential direction of the revolution circle. In the adjusting process, the four wheel assemblies rotate towards the inner side by driving the gear pair to rotate by the steering driving motor, so that the wheels rotate inwards. When the angle of the in-situ steering tire is adjusted, the rotating operation directions of the four walking driving motors are controlled, and left turning and backward transmission of in-situ steering are realized.
The description of the present invention has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications and variations will be apparent to practitioners skilled in this art. The embodiment was chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated.
Claims (1)
1. The utility model provides a cut fork and maintain operating means's all-round actuating mechanism's control system which characterized in that: the system comprises an interface, a CAN communication module, a driving mode selection module, a function mode selection module, a fault diagnosis module, a parameter calibration module, a chassis walking control module, a driving motor control module and a steering motor control module, and the system CAN jointly complete speed closed-loop control, parking, forward and reverse rotation, smooth control of starting and decelerating processes and differential control of wheels on two sides of a steering process;
the driving motor control module comprises a left front driving motor control unit, the left front driving motor control unit comprises a driver MDC1460-1, a pin 2 of the driver MDC1460-1 is connected with one end of a coil of a breaking relay KM1, the other end of the coil of the breaking relay KM1 is connected with the anode of a 24V power supply, pins 5 and 6 of the driver MDC1460-1 are connected with an interface and a CAN communication module, a pin 13 of the driver MDC1460-1 is connected with a pin B2 of a left front driving motor M1, a pin 1 of the driver MDC1460-1 is connected with a pin B1 of a left front driving motor M1, a pin A-2 of a left front driving motor M1 is connected with a pin M + of the driver MDC1460-1, a pin PwrCtrol of the driver 1460-1 is connected with a pin A1 of a left front driving motor M1, one end of a fuse 13 is connected with a PwrCtrco-pole of the other end of the fuse F13, the Ground pin of the driver MDC1460-1 is connected with the negative pole of a 24V power supply, the VMot pin of the driver MDC1460-1 is connected with one end of a switch of a breaking relay KM1, the other end of the switch of the breaking relay KM1 is connected with one end of a fuse F12, the other end of the fuse F12 is connected with the positive pole of the 24V power supply, the pin F1 of the front left driving motor M1 is connected with the negative pole of the 24V power supply, the pin F2 of the front left driving motor M1 is connected with one end of a switch of a breaking relay KM1, the other end of the switch of the breaking relay KM1 is connected with one end of a fuse F;
the drive motor control module also comprises a right front drive motor control unit, the right front drive motor control unit comprises a driver MDC1460-2, a pin 2 of the driver MDC1460-2 is connected with one end of a coil of a breaking relay KM2, the other end of the coil of the breaking relay KM2 is connected with the anode of a 24V power supply, pins 5 and 6 of the driver MDC1460-2 are connected with an interface and CAN communication module, a pin 13 of the driver MDC1460-2 is connected with a pin B2 of a right front drive motor M2, a pin 1 of the driver MDC1460-2 is connected with a pin B1 of a right front drive motor M2, a pin M-of the driver MDC1460-2 is connected with a pin A2 of a right front drive motor M2, a pin M + of the driver MDC1460-2 is connected with a pin A1 of a right front drive motor M2, a pin PwrCtrROL of the driver 1460-2 is connected with one end of a fuse F23, and a fuse 23 of the other, the Ground pin of the driver MDC1460-2 is connected with the negative electrode of a 24V power supply, the VMot pin of the driver MDC1460-2 is connected with one end of a switch of a breaking relay KM2, the other end of the switch of the breaking relay KM2 is connected with one end of a fuse F22, the other end of the fuse F22 is connected with the positive electrode of the 24V power supply, the pin F1 of the right front driving motor M2 is connected with the negative electrode of the 24V power supply, the pin F2 of the right front driving motor M2 is connected with one end of a switch of a breaking relay KM2, the other end of the switch of the breaking relay KM2 is connected with one end of a fuse;
the drive motor control module also comprises a left rear drive motor control unit, the left rear drive motor control unit comprises a driver MDC1460-3, a pin 2 of the driver MDC1460-3 is connected with one end of a coil of a cut-off relay KM3, the other end of the coil of the cut-off relay KM3 is connected with the anode of a 24V power supply, pins 5 and 6 of the driver MDC1460-3 are connected with an interface and a CAN communication module, a pin 13 of the driver MDC1460-3 is connected with a pin B2 of a left rear drive motor M3, a pin 1 of the driver MDC1460-3 is connected with a pin B1 of a left rear drive motor M3, a pin M-of the driver MDC1460-3 is connected with a pin A2 of a left rear drive motor M3, a pin M + of the driver MDC1460-3 is connected with a pin A1 of the left rear drive motor M3, a pin PwrCtrrol of the driver 1460-3 is connected with one end of a fuse F33, and the other end, the Ground pin of the driver MDC1460-3 is connected with the negative electrode of a 24V power supply, the VMot pin of the driver MDC1460-3 is connected with one end of a switch of a breaking relay KM3, the other end of the switch of the breaking relay KM3 is connected with one end of a fuse F32, the other end of the fuse F32 is connected with the positive electrode of the 24V power supply, the pin F1 of the left rear driving motor M3 is connected with the negative electrode of the 24V power supply, the pin F2 of the left rear driving motor M3 is connected with one end of a switch of a breaking relay KM3, the other end of the switch of the breaking relay KM3 is connected with one end of a fuse F;
the drive motor control module also comprises a right rear drive motor control unit, the right rear drive motor control unit comprises a driver MDC1460-4, a pin 2 of the driver MDC1460-4 is connected with one end of a coil of a breaking relay KM4, the other end of the coil of the breaking relay KM4 is connected with the anode of a 24V power supply, pins 5 and 6 of the driver MDC1460-4 are connected with an interface and a CAN communication module, a pin 13 of the driver MDC1460-4 is connected with a pin B2 of a right rear drive motor M4, a pin 1 of the driver MDC1460-4 is connected with a pin B1 of a right rear drive motor M4, a pin M-of the driver MDC1460-4 is connected with a pin A2 of a right rear drive motor M4, a pin M + of the driver MDC1460-4 is connected with a pin A1 of the right rear drive motor M4, a pin PwrCtrrol of the driver 1460-4 is connected with one end of a fuse F43, and the other end of the anode of, the Ground pin of a driver MDC1460-4 is connected with the negative electrode of a 24V power supply, the VMot pin of the driver MDC1460-4 is connected with one end of a switch of a breaking relay KM4, the other end of the switch of the breaking relay KM4 is connected with one end of a fuse F42, the other end of the fuse F42 is connected with the positive electrode of the 24V power supply, the F1 pin of a right rear driving motor M4 is connected with the negative electrode of the 24V power supply, the F2 pin of a right rear driving motor M4 is connected with one end of a switch of a breaking relay KM4, the other end of the switch of a breaking relay KM4 is connected with one end of a fuse F;
the steering motor control module further comprises a front wheel steering motor control unit, the front wheel steering motor control unit comprises a driver MDC2230-1, a pin 2 of the driver MDC2230-1 is connected with one end of a coil of a breaking relay KM5, one end of the coil of the breaking relay KM5 is connected with the positive pole of a 24V power supply, pins 5 and 6 of the driver MDC2230-1 are connected with an interface and CAN communication module, a pin M1+ of the driver MDC2230-1 is connected with a pin F1 of a front left steering motor M5, a pin M1-of the driver MDC2230-1 is connected with a pin F2 of the front left steering motor M5, a pin M2+ of the driver MDC2230-1 is connected with a pin F1 of a front right steering motor M6, and a pin M2-of the driver MDC2230-1 is connected with a pin F2 of the front right steering motor M6;
the Ground pin of the driver MDC2230-1 is connected with the negative electrode of a 24V power supply, the VMot pin of the driver MDC2230-1 is connected with one end of a switch of a cut-off relay KM5, the other end of the switch of the cut-off relay KM5 is connected with one end of a fuse F52, the other end of the fuse F52 is connected with the positive electrode of the 24V power supply, the PwrCtrol pin of the driver MDC2230-1 is connected with one end of the fuse F53, and the other end of the fuse F53 is connected with the positive electrode of the;
the steering motor control module further comprises a rear wheel steering motor control unit, the rear wheel steering motor control unit comprises a driver MDC2230-2, a pin 2 of the driver MDC2230-2 is connected with one end of a coil of a breaking relay KM6, the other end of a coil of a breaking relay KM6 is connected with the positive pole of a 24V power supply, pins 5 and 6 of the driver MDC2230-2 are connected with an interface and a CAN communication module, a pin M1+ of the driver MDC2230-2 is connected with a pin F1 of a left rear steering motor M7, a pin M1-of the driver MDC2230-2 is connected with a pin F2 of the left rear steering motor M7, a pin M2+ of the driver MDC2230-2 is connected with a pin F1 of a right rear steering motor M8, and a pin M2-of the driver MDC2230-2 is connected with a pin F2 of the right rear steering motor M;
the Ground pin of the driver MDC2230-2 is connected with the negative electrode of a 24V power supply, the VMot pin of the driver MDC2230-2 is connected with one end of a switch of a cut-off relay KM6, the other end of the switch of the cut-off relay KM6 is connected with one end of a fuse F62, the other end of the fuse F62 is connected with the positive electrode of the 24V power supply, the PwrCtrol pin of the driver MDC2230-2 is connected with one end of the fuse F63, and the other end of the fuse F63 is connected with the positive electrode of the;
the chassis walking control module further comprises a driving controller HuaHai-U3, the driving controller HuaHai-U3 is connected with an encoder 1, an encoder 2, an encoder 3 and an encoder 4, pins 50 and 69 of the driving controller HuaHai-U3 are connected with an interface and CAN communication module, pin 3 of the driving controller HuaHai-U3 is connected with one end of an ignition switch, the other end of the ignition switch is connected with the anode of a 24V power supply, pin 4 of the driving controller HuaHai-U3 is connected with one end of a fuse F43, the other end of the fuse F43 is connected with the anode of the 24V power supply, pin 6 of the driving controller HuaHai-U3 is connected with one end of an emergency stop switch, and the other end of the emergency stop switch is connected with the anode of the 24V.
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| CN113859359A (en) * | 2021-12-03 | 2021-12-31 | 南京天创电子技术有限公司 | Movement control method of light explosion-proof four-wheel eight-drive chassis |
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| CN206585491U (en) * | 2017-01-05 | 2017-10-24 | 科蒂斯技术（苏州）有限公司 | A kind of DC permanent magnet brush electric machine controller of small-sized electric storage car steering |
| CN107505144A (en) * | 2017-09-21 | 2017-12-22 | 石河子大学 | A kind of four motorized wheels independent steering power driven mist blower Operation Van test platform |
| CN109213140A (en) * | 2018-06-19 | 2019-01-15 | 深圳先进技术研究院 | A kind of omnidirectional's handling device and its control method |
| CN209833756U (en) * | 2018-12-28 | 2019-12-24 | 南京航空航天大学 | Multi-mode wire-controlled four-wheel independent steering/driving system |
| CN109910878A (en) * | 2019-03-21 | 2019-06-21 | 山东交通学院 | Obstacle avoidance control method and system for autonomous vehicle based on trajectory planning |
| CN111409737A (en) * | 2020-03-27 | 2020-07-14 | 吉林大学 | Electric carrying platform without steering system and capable of moving in all directions and control method thereof |
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| CN112009269A (en) | 2020-12-01 |
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Denomination of invention: A control system of omni-directional driving mechanism of shear fork maintenance device Effective date of registration: 20220509 Granted publication date: 20210205 Pledgee: Qingzhou Shandong rural commercial bank Limited by Share Ltd. Pledgor: SHANDONG HUALONG AGRICULTURE EQUIPEMENT CO.,LTD. Registration number: Y2022980005271 |