CN105480299A - Automated guided railless carrying train with flexibly configured kinds of carrying trains and operation control method - Google Patents

Abstract

The invention discloses an automated guided railless carrying train with flexibly configured kinds of carrying trains, and belongs to the field of automation transporting equipment. The carrying train is divided into automated guided power carrying carts, power carrying carts and /or servo carrying carts. Each carrying train comprises one or more automated guided power carrying carts, every two carrying carts are connected through a three-dimensional independent freedom degree push-pull device, and the whole carrying train is pulled by the automated guided power carrying carts to travel along a guide path. According to the automated guided railless carrying train disclosed by the invention, the capacity for controlling the moving trajectory of automated guided trains can be reinforced, the steering motility of the automated guided trains is improved, and the phenomena that the automated guided trains are mutually crashed, the automated guided trains are driven out of the guide path or the carrying trains tilt to one side and turn over in the practical operation process are avoided. The invention also discloses an operation control method of the carrying train.

Description

The configurable trackless launch train of homing guidance and progress control method

Technical field

The present invention relates to a kind of homing guidance train and control method, be specifically a kind of without the need to mechanical tracks guiding, carrier loader type can the homing guidance trackless launch train of flexible configuration and progress control method, belongs to Automatic Conveying equipment field.

Background technology

Automatic guided vehicle (AutomatedGuidedVehicle, AGV) has the conveying of multiple load and branch mode, comprises push-pull type AGV, fork-lift type AGV, roller bed type AGV, back carried AGV, jacking type AGV and towed AGV etc.Different transfer mode has different operating features, as barycentre steadiness during push-pull type AGV cargo handing and can the left and right sides handling, platform does not need to install engine installation, but higher to the positioning requirements of AGV, and station platform roller-way needs identical with the roller-way height of AGV.Fork-lift type AGV can between the very large platform of diff-H and ground handling goods, in the warehouse using multi-layered storage rack or sail formula tunnel into, handling goods tool has great advantage, but when fork-lift type AGV moves backward, turn radius is larger.

Compared with other transfer modes, towed AGV is more suitable for the handling and conveying that monomer weight is little, total number is numerous.Towed AGV does not need to arrange shifting apparatus on AGV, only provides tractive force, with electric trailer comparing class seemingly, on rear side of AGV or side hook is set, trailer by hook be connected with AGV, reach the object of pulling.Towed AGV structure is simple, and energy consumption is little, and cost is low, can pull more piece trailer, increases transport capacity by more piece trailer.But, the running orbit control ratio of more piece trailer is more difficult, the turn radius of towed AGV is large compared with other types AGV, running at high speed and in braking procedure, also there will be the wild effects such as snakelike swing, folding and trailer whipping, the danger that the AGV vehicle adding towed AGV and opposite sense or equidirectional traveling side by side collides mutually and the danger rolling guide path away from, also can cause inclination and the overturning of more piece trailer time serious.

Summary of the invention

Technical matters to be solved by this invention is to overcome prior art defect, there is provided a kind of and effectively can improve load transportation ability, strengthen trailer running orbit control ability and improve the configurable trackless launch train of homing guidance of transportation burden adaptive capacity, and for this trackless launch train provide a kind of distributed leading-many carrier loaders synthetic operation control method of following.

In order to solve the problems of the technologies described above, the configurable trackless launch train of a kind of homing guidance provided by the invention, at least comprises a joint and is positioned at launch train homing guidance power carrier loader foremost and the servo-actuated carrier loader of some joints and/or power carrier loader; Be connected by three-dimensional independent degree push-pull arrangement between described each carrier loader;

Installation car set controller, drive wheel device, electronic compass on described homing guidance power carrier loader, described drive wheel device is installed guiding sensor, and described drive wheel device, guiding sensor and electronic compass are all electrically connected with Vehicle Controller; Described guiding sensor is for identifying guide path;

Installation car set controller on described servo-actuated carrier loader;

Installation car set controller and drive wheel device on described power carrier loader, described drive wheel device electrical connection Vehicle Controller;

Described three-dimensional independent degree push-pull arrangement comprises the first push-pull arrangement and the second push-pull arrangement that are connected by horizontally moving device, described first push-pull arrangement and the second push-pull arrangement are connected adjacent two joint carrier loaders respectively, and described first push-pull arrangement and the second push-pull arrangement are measured the forward and backward rotational angle that is connected carrier loader with it respectively and be transferred in the Vehicle Controller on connected carrier loader; Traction thrust between adjacent two joint carrier loaders is transferred in the Vehicle Controller of prosthomere carrier loader in adjacent two joint carrier loaders by described horizontally moving device;

The Vehicle Controller composition control device network control launch train overall operation of described homing guidance power carrier loader, servo-actuated carrier loader and power carrier loader.

In the present invention, in described three-dimensional independent degree push-pull arrangement the first push-pull arrangement and the second push-pull arrangement include and recommend bearing, recommend connecting rod, vertical axis and angular transducer, described vertical axis is through the upper lower cantalever of recommending bearing and can rotate around its axis; Described connecting rod of recommending is connected with vertical axis, with vertical axes, and can slide up and down along vertical axis axis; Rotating shaft and the vertical axis of described angular transducer are connected, the body of angular transducer with recommend bearing and be connected;

The upper and lower end face of recommending connecting rod of described first push-pull arrangement or the second push-pull arrangement and recommend between bearing and be provided with vertical spring element;

Described horizontally moving device comprises horizontal slip sleeve and displacement pickup, the connecting rod of recommending that one end of described horizontal slip sleeve and upper and lower end face are provided with vertical spring element is connected, other end perforate, connecting rod of recommending for the first push-pull arrangement or the second push-pull arrangement inserts, and recommends connecting rod and can to slide in the horizontal direction relative to horizontal slip sleeve and spacing; Institute's displacement sensors is arranged in horizontal slip sleeve, measures the relative displacement of recommending connecting rod and horizontal slip sleeve inserted in horizontal slip sleeve; Be provided with horizontal resiliency element in described horizontal slip sleeve, one end of horizontal resiliency element is connected with horizontal slip sleeve lining, the other end with recommend connecting rod and be connected;

The Vehicle Controller electrical connection of angular transducer on described first push-pull arrangement and the second push-pull arrangement respectively on connected carrier loader; Institute's displacement sensors is electrically connected with adjacent two Vehicle Controllers saving prosthomere carrier loader in carrier loader.

In the present invention, state drive wheel device comprise connect successively from top to bottom lifting module, damping module, drive chassis and be arranged on lifting module top pressure sensor, described driving chassis and damping model calling, driving chassis can relative to damping module in rotating; Described driving chassis comprises support, angular transducer, rack-mount vertical axis, rack-mount horizontal shaft and is arranged on the first drive wheel and second drive wheel at horizontal shaft two ends, described first drive wheel and the second drive wheel adopt independently actuating device to drive respectively, described first drive wheel and the second drive wheel all install tachogen, and tachogen is electrically connected with Vehicle Controller; Rotating shaft and the vertical axis of described angular transducer are connected, and body and the damping module of angular transducer are connected; Described pressure sensor, lifting module and angular transducer are electrically connected with Vehicle Controller.

In the present invention, the first height adjustment mechanism that described lifting module comprises loading plate, middle loading plate and is connected between loading plate and middle loading plate; Described first height adjustment mechanism comprises two to connecting rod arranged in a crossed manner, electric pushrod, described two are fixedly connected with the both sides of upper loading plate, middle loading plate respectively to connecting rod one end arranged in a crossed manner, the other end is flexibly connected respectively by the horizontal waist-shaped hole of two waling stripes with upper loading plate, middle loading plate both sides, and the horizontal waist-shaped hole position on upper loading plate and middle loading plate is corresponding; Described electric pushrod connects arbitrary waling stripe, electric pushrod level of control connecting rod parallel motion in horizontal waist shaped hole, described electric pushrod electrical connection Vehicle Controller.

In the present invention, described damping module comprises lower loading plate, middle loading plate and the second height adjustment mechanism be arranged between lower loading plate and middle loading plate and elastic buffering mechanism; Described second height adjustment mechanism comprises two to connecting rod arranged in a crossed manner, described two are fixedly connected with the both sides of lower loading plate, middle loading plate respectively to connecting rod one end arranged in a crossed manner, the other end is flexibly connected respectively by the horizontal waist-shaped hole of two waling stripes with lower loading plate, middle loading plate both sides, and the horizontal waist-shaped hole position on lower loading plate and middle loading plate is corresponding; Described waling stripe can parallel motion in waist shaped hole.

In the present invention, described elastic buffering mechanism comprises and is fixed on the first guide stanchion on middle loading plate/lower loading plate and the second guide stanchion, first guide stanchion and be provided with dash clearance between the second guide stanchion and lower loading plate/middle loading plate, described first guide stanchion and the second guide stanchion are set with damping spring, and the two ends up and down of described damping spring are connected with middle loading plate, lower loading plate respectively.

In the present invention, described homing guidance power carrier loader, servo-actuated carrier loader and/or power carrier loader all install the first cardan wheel, the second cardan wheel, the first directional wheel and the second directional wheel; Described first cardan wheel and the second cardan wheel are positioned at the front portion of carrier loader, first directional wheel and the second directional wheel are positioned at the rear portion of carrier loader, and described first cardan wheel and the second cardan wheel, the first directional wheel and the second fixed wheel cross central line all about carrier loader is symmetrical; The drive wheel device of described homing guidance power carrier loader and power carrier loader is fixedly mounted on the cross central line of carrier loader, between cardan wheel and directional wheel.

In the present invention, described net control comprises several controller groups, and in described each controller group, the Vehicle Controller of homing guidance power carrier loader is master controller node vehicle Controller on power carrier loader and/or servo-actuated carrier loader is from controller node every two master controller nodes with between all from controller node with previous master controller node form i-th controller group the intercommunication of the master controller node in each controller group;

In described each controller group, each from controller node by push-pull arrangement rotational angle before measured by it rear push-pull arrangement rotational angle and deutomerite carrier loader traction thrust send to the master controller node of this group master controller node according to measured rear push-pull arrangement rotational angle and deutomerite carrier loader traction thrust calculate jth joint carrier loader and jth+1 in i-th controller group by formula (1) and (2) and save the rotational angle between carrier loader and traction thrust

$F_i^{j,j+1}=F_t^{i\_j},j=0,1,2...k---\left(2\right)$

In formula, k is the number from controller node in i-th controller group;

Between described controller group, last master controller node by the rear push-pull arrangement rotational angle of final section carrier loader in this group and deutomerite carrier loader traction thrust master controller node in a controller group after sending to master controller node in a rear control group push-pull arrangement rotational angle before recording according to it the rotational angle between the i-th+1 joint homing guidance power carrier loader and prosthomere carrier loader is calculated by formula (3) and (4) and traction thrust

$F_m^{i+1}=F_t^{i\_k}---\left(4\right)$

Between described controller group, described last master controller node jth joint carrier loader and jth+1 in the control group of place are saved the rotational angle between carrier loader a master controller node after sending to a rear master controller node according to the rotational angle between itself and last joint carrier loader the rotational angle that the i-th+1 joint homing guidance power carrier loader and i-th saves homing guidance power carrier loader is calculated by formula (5)

Present invention also offers above-mentioned, the first homing guidance power carrier loader train master controller node in described launch train control the running velocity of the first homing guidance power carrier loader as the reference velocity of permutation launch train;

Guiding sensor on i-th joint homing guidance power carrier loader records its attitude angle deviation relative to guide path in drive wheel device, angular transducer records and drives the pivot angle of chassis and carrier loader to be the then running velocity of other homing guidance power carrier loaders meet the objective function minimized described in formula (6):

$Y\left(v_m^i\right)={\mathrm{\η}}_1\underset{i}{\mathrm{\Σ}}{\left(v_m^i\cos \left({\mathrm{\θ}}_e^{mi}+{\mathrm{\φ}}_m^i\right)-v_m^1\cos \left({\mathrm{\θ}}_e^{m1}+{\mathrm{\φ}}_m^1\right)\right)}^2+{\mathrm{\η}}^2\underset{i}{\mathrm{\Σ}}{\left(F_m^i\right)}^2---\left(6\right)$

In formula, $V_m=\[\begin{array}{cccc}{v}_m^2& v_m^3& ...& v_m^i\end{array}\]$ For input vector to be asked, η ₁and η ₂for weight coefficient;

Electronic compass records the azimuth of the i-th joint homing guidance power carrier loader in the i-th controller group, the average rotation angle between carrier loader for:

In the i-th controller group, the average traction thrust between carrier loader for:

$\stackrel{\‾}{F_i}=\left(\underset{j=1}{\overset{k}{\Σ}}{F}_i^{j-1,j}\right)/k---\left(8\right)$

In the i-th controller group, the running velocity of power carrier loader meet the objective function minimized described in formula (9);

In formula, $V_s=\[\begin{array}{cccc}{v}_s^{i\_1}& v_s^{i\_2}& ...& v_s^{i\_k}\end{array}\]$ For input vector to be asked, η ₃, η ₄and η ₅for weight coefficient;

In permutation launch train, to jth joint homing guidance power carrier loader or power carrier loader, if its quality of loads is M _j, acceleration/accel is a _j, acceleration due to gravity is g, and itself and the continuous b in front save the traction thrust between servo-actuated carrier loader for thrust itself and the continuous c in rear save the traction thrust between servo-actuated carrier loader for pulling force then jth joint homing guidance power carrier loader or the total power-handling capability needed for power carrier loader are:

If the friction coefficient lower limit on drive wheel and ground is μ ₁, higher limit is μ ₂, it is N that pressure sensor measures the load that in jth joint homing guidance power carrier loader or power carrier loader, drive wheel device bears _j.

If then increase the thrust between drive wheel device and ground;

If then reduce the thrust between drive wheel device and ground.

Beneficial effect of the present invention is: (1), on the basis of towed AGV original structure, use for reference the constructional feature of motor train unit train (tracked transportation vehicle) and train-type vehicle (trackless transport vehicles), by recommending connecting device between adjacent train, guiding sensor on homing guidance power carrier loader and actuating device, the sensing and controlling system of the Vehicle Controller composition on the actuating device on power carrier loader and each carrier loader, the running orbit control ability to homing guidance train can be strengthened, that improves homing guidance train turns to manoevreability (turn radius, turn clearance width etc.), avoid collision mutually occurs in actual moving process, roll guide path or the phenomenon such as carrier loader generation inclination and overturning away from, there is very important engineer applied be worth, (2), homing guidance power carrier loader, servo-actuated carrier loader and power carrier loader can carry out various combination by the present invention in actual use, to meet the traffic requirements of different work environment, improves the maneuvering performance of launch train, (3), connect three-dimensional independent degree push-pull arrangement between each carrier loader, realize the amphicheirality pushing away, draw application force, improve the tractive performance of launch train, it has the independence between multiple degree of freedom, and between multi-dimensional movement, not coupling, accurately can measure the straight-line displacement between carrier loader and angular transposition, for closed loop control provides information feed back, improve control accuracy and efficiency.

Accompanying drawing explanation

Fig. 1 is the composition schematic diagram of the configurable trackless launch train of homing guidance in the present invention;

Fig. 2 is three-dimensional independent degree push-pull arrangement schematic diagram in the present invention: (a) is integral structure schematic diagram; B () is A-A cutaway view in figure (a); C () is dotted portion enlarged drawing in figure (a);

Fig. 3 is the schematic three dimensional views of three-dimensional independent degree push-pull arrangement in the present invention;

Fig. 4 is the scheme of installation of drive wheel device in the present invention;

Fig. 5 is the structural representation of drive wheel device in the present invention;

Fig. 6 is the structural representation being elevated module and damping module in the present invention;

Fig. 7 is the structural representation driving chassis in the present invention;

Fig. 8 guides the scheme of installation of sensor on drive wheel device in the present invention;

Fig. 9 is the composition schematic diagram of carrier loader in the present invention;

Figure 10 is the input and output schematic diagram of launch train control system in the present invention;

Figure 11 is the composition schematic diagram of launch train controller network in the present invention;

Figure 12 is the principle schematic of launch train progress control method in the present invention;

In figure, 1-carrier loader, the three-dimensional independent degree push-pull arrangement of 2-, 3-homing guidance power carrier loader, 4-power carrier loader, the servo-actuated carrier loader of 5-, 6-Vehicle Controller, 7-vehicle frame, 8-drive wheel device, 9-guides sensor, 201-recommends bearing A, 202-recommends connecting rod A, 203-end vertical axle A, 204-vertically-guided key A, the vertical spring element 1 of 205-, the vertical spring element 2 of 206-, 207-horizontal slip sleeve, 208-horizontal resiliency element, 209-sleeve end cap, 210-angular transducer A, 211-displacement pickup, 2111-movement parts, 2112-static element, 231-recommends bearing B, 232-recommends connecting rod B, 233-end vertical axle B, 234-vertically-guided key B, 235-horizontally-guided key 1, 236-Horizontal limiting block, 237-angular transducer B, 71-first cardan wheel, 72-second cardan wheel, 73-first directional wheel, 74-second directional wheel, 81-is elevated module, 82-damping module, 83-drives chassis, the upper loading plate of 811-, loading plate in 812-, 813-first height adjustment mechanism, 814-electric pushrod, 815-pressure sensor, loading plate under 821-, 822-second height adjustment mechanism, 823-elastic buffering mechanism, 824-thrust baring, 831-chassis overhang, 832-vertical axis, 833-angular transducer C, 834-horizontal shaft, 835-first drive wheel, 836-second drive wheel, 837-first driving wheel motor, 838-second driving wheel motor, 91-pivot arm.H01-first connecting rod; H02-second connecting rod; H03-third connecting rod; H04-double leval jib; H05-first waling stripe; H06-second waling stripe; H07-the 3rd waling stripe; H08-the 4th waling stripe; H09-the 5th waling stripe; H10-cross sliding clock; H21-the 5th connecting rod; H22-six-bar linkage; H23-seven-link assembly; H24-the 8th connecting rod; H25-the 6th waling stripe; H26-the 7th waling stripe; H27-the 8th waling stripe; H28-the 9th waling stripe; H29-the tenth waling stripe; T01-first guide stanchion; T02-second guide stanchion; T03-first damping spring; T04-second damping spring.

Detailed description of the invention

Below in conjunction with accompanying drawing, the present invention is described in further detail.

As shown in Figure 1, the configurable trackless launch train of homing guidance of the present invention comprises more piece carrier loader 1, often saves between carrier loader and is all connected by three-dimensional independent degree push-pull arrangement 2.Carrier loader 1 is divided into homing guidance power carrier loader 3, power carrier loader 4 and servo-actuated carrier loader 5.Homing guidance power carrier loader 3 comprises vehicle frame 7 and the Vehicle Controller 6 be arranged on vehicle frame, drive wheel device 8, guiding sensor 9, electronic compass and supply unit.Vehicle Controller 6 with drive wheel device 8, guide sensor 9, electronic compass is electrically connected, supply unit is used for powering to driving wheel device 8, guiding sensor 9, electronic compass.Power carrier loader 4 comprises Vehicle Controller 6, vehicle frame 7, drive wheel device 8 and supply unit, drive wheel device 8, Vehicle Controller 6 and supply unit are arranged on vehicle frame 7, drive wheel device 8 is electrically connected Vehicle Controller 6, and supply unit is used for powering to drive wheel device 8, Vehicle Controller 6.Servo-actuated carrier loader 5 comprises vehicle frame 7, installation car set controller 6 on vehicle frame 7.

The operating path of launch train of the present invention not relies on installation mechanical tracks on the ground to limit, only need lay the guide path with certain characteristic signal on the ground, identify guide path by the guiding sensor 9 on homing guidance power carrier loader 3, traction permutation launch train travels along guide path.In the present invention, launch train is by homing guidance power carrier loader 3, power carrier loader 4, servo-actuated carrier loader 5 arbitrarily composition forms, often row launch train is homing guidance power carrier loader 3 foremost, power carrier loader 4 and/or servo-actuated carrier loader 5 is connected after it, consider the stability in operational process, usually between servo-actuated carrier loader 5, interval arranges homing guidance power carrier loader 3 or power carrier loader 4, with the supply of the resolution and power that improve path, prevent launch train not enough at operational process medium power, snakelike swing or when turning deflection path and whipping.

As shown in Figures 2 and 3, three-dimensional independent degree push-pull arrangement 2 of the present invention comprises the horizontally moving device that sub-device recommended by A type, Type B recommends sub-device and sub-device recommended by connection A type, Type B recommends sub-device.A type recommend sub-device comprise recommend bearing A201, recommend connecting rod A202, end vertical axle A203, vertically-guided key A204, vertical spring element 205, vertical spring element 206, horizontal slip sleeve 207, horizontal resiliency element 208, sleeve end cap 209, angular transducer A210 and displacement pickup 211.Recommend bearing A201, recommend connecting rod A202, end vertical axle A203, vertically-guided key A204, vertical spring element 1205, vertical spring element 2206 and angular transducer A210 form A group vertical rotation pair.Recommending bearing A201 is fixed on carrier loader, and upper cantilever end and the lower cantalever end of recommending bearing A201 have coaxial upright opening, and the one end of recommending connecting rod A202 has upright opening, and the other end is fixedly connected with horizontal slip sleeve 207.End vertical axle A203 is through recommending bearing A201 upright opening, be connected with the upright opening of recommending connecting rod A202 by vertically-guided key A204, recommend connecting rod A202 to be rotated about axis with end vertical axle A203, and can slide up and down along axis relative to end vertical axle A203.Vertical spring element 1205, through end vertical axle A203, is fixedly installed in and recommends between the upper cantilever end of bearing A201 and the upper surface of recommending connecting rod A202; Vertical spring element 2206 through end vertical axle A203, be fixedly installed in recommend connecting rod A202 between lower surface and the lower cantalever end of recommending bearing A201.The rotating shaft 2101 of angular transducer A210 is fixedly connected with end vertical axle A203, the body 2102 of angular transducer A210 with recommend bearing A201 and be fixedly connected with, can relatively rotate between the rotating shaft 2101 of angular transducer A210 and body 2102.

Type B recommend sub-device comprise recommend bearing B231, recommend connecting rod B232, end vertical axle B233, vertically-guided key B234, horizontally-guided key 235, Horizontal limiting block 236 and angular transducer B237.Recommend bearing B231, recommend connecting rod B232, end vertical axle B233, vertically-guided key B234 and angular transducer B237 form B group vertical rotation pair.Recommending bearing B231 is fixed on carrier loader, and upper cantilever end and the lower cantalever end of recommending bearing B231 have coaxial upright opening, and the one end of recommending connecting rod B232 has upright opening, and the other end is installed in horizontal slip sleeve 207.End vertical axle B233 is through recommending bearing B231 upright opening, be connected with the upright opening of recommending connecting rod B232 by vertically-guided key B234, recommend connecting rod B232 to be rotated about axis with end vertical axle B233, and can slide up and down along axis relative to end vertical axle B233.The rotating shaft 2371 of angular transducer B237 is fixedly connected with end vertical axle B233, the body 2372 of angular transducer B237 with recommend bearing B231 and be fixedly connected with, can relatively rotate between the rotating shaft 2371 of angular transducer B237 and body 2372.

The secondary level of parallel motion comprises slider tube 207, horizontal resiliency element 208, sleeve end cap 209, displacement pickup 211, horizontally-guided key 235 and Horizontal limiting block 236.Horizontal slip sleeve 207 one end with recommend connecting rod A202 and be fixedly connected with, the other end of horizontal slip sleeve 207 has lateral aperture, recommends connecting rod B232 and is connected by the lateral aperture of horizontally-guided key 1235 with horizontal slip sleeve 207.Horizontal resiliency element 208 be fixedly installed in recommend connecting rod B232 and horizontal slip sleeve 207 inwall between.The movement parts 2111 of displacement pickup 211 with recommend connecting rod B232 and be fixedly connected with, the static element 2112 of displacement pickup 211 is fixedly connected with horizontal slip sleeve 207.The lateral aperture of horizontal slip sleeve 207 is sealed by sleeve end cap 209, recommends on connecting rod B232 and is provided with Horizontal limiting block 236.

Recommend the rear center that bearing A201 is fixedly installed in prosthomere carrier loader, recommend the stem central authorities that bearing B231 is fixedly installed in deutomerite carrier loader, during initial installation, vertical spring element 1205 and vertical spring element 2206 are all in compressive state, and both difference of pressures can be used for gravity and the force of inertia of equilibrium level moving sets.In A group vertical rotation pair, end vertical axle A203 can rotate in the upright opening of recommending bearing A201, recommend connecting rod A202 to be rotated about axis with end vertical axle A203, this rotational angle can be measured by angular transducer A210, is the pivot angle of recommending between connecting rod A202 and prosthomere carrier loader.In B group vertical rotation pair, end vertical axle B233 can rotate in the upright opening of recommending bearing B231, recommend connecting rod B232 to be rotated about axis with end vertical axle B233, this rotational angle can be measured by angular transducer B237, is the pivot angle of recommending between connecting rod B232 and deutomerite carrier loader.

In parallel motion pair, recommending connecting rod B232 can slide in the horizontal direction relative to horizontal slip sleeve 207, and both relative displacemenies can be measured by displacement pickup 211.Recommend the end position that connecting rod B232 slides in the horizontal direction, one end determined by the inwall of the horizontal slip sleeve 207 for installing horizontal resiliency element 208, carries out spacing when recommending the inwall of connecting rod B232 exposure level slider tube 207 to recommending connecting rod B232; The other end determined by Horizontal limiting block 236, carries out spacing when Horizontal limiting block 236 contact sleeve end cap 209 to recommending connecting rod B232.Displacement pickup 211 is electrically connected Vehicle Controller 6, and Vehicle Controller 6 calculates the traction thrust between push-pull arrangement and carrier loader according to the stiffness coefficient of horizontal resiliency element.

When ground unfairness residing for prosthomere carrier loader and deutomerite carrier loader, recommend bearing A201 and recommend bearing B231 and may there is larger diff-H.Recommending connecting rod A202 can along end vertical axle A203 axial sliding movement under the guiding of vertically-guided key A204, recommending connecting rod B232 can along end vertical axle B233 axial sliding movement under the guiding of vertically-guided key B234, and recommend connecting rod A202 and recommend connecting rod B232 and keep synchronous slide in vertical direction, parallel motion pair remains level attitude.

Compared with the coupling hitch of draw bar trailer, three-dimensional independent degree push-pull arrangement of the present invention has three significant advantages: the amphicheirality of (1), application force.For push-pull arrangement of the present invention, the horizontal resiliency element between the inwall of recommending connecting rod B and horizontal slip sleeve both can be in stretching and also can be in compressive state.Therefore, both there is the situation that prosthomere carrier loader pulls deutomerite carrier loader, also there is the situation that deutomerite carrier loader promotes prosthomere carrier loader.And for draw bar trailer, be all generally that tractor truck pulls trailer.(2) independence, between multiple degree of freedom.For push-pull arrangement of the present invention, the secondary vertical movement along end vertical axle of the vertical rotation of vertical rotation pair, parallel motion and to recommend connecting rod B relative to the parallel motion of horizontal slip sleeve be all independently, not coupling between multi-dimensional movement, the measurement of straight-line displacement and angular transposition is fairly simple, also fairly simple to the motion control of the displacement of different dimensional.And for draw bar trailer, coupling hitch does not generally have the degree of freedom of parallel motion, teeter is also coupled with vertical oscillation.(3), momental measurability.Push-pull arrangement of the present invention, the vertical rotation angular transposition of vertical rotation pair and to recommend connecting rod B relative to the parallel motion straight-line displacement of horizontal slip sleeve be all accurately measurable, for closed loop control provides information feed back, and existing draw bar trailer, coupling hitch does not generally feed back measuring cell.

As shown in Figures 4 and 5, the drive wheel device 8 in the present invention comprises lifting module 81, damping module 82 and drives chassis 83.Drive wheel device 8 is connected with vehicle frame 7 by the upper loading plate 811 of lifting module 81, and is bolted.Between upper loading plate 811 and the contact surface of vehicle frame 7, be provided with pressure sensor 814, pressure sensor 814 connects Vehicle Controller 6, acts on the load of drive wheel device 8 for detecting vehicle frame 7.This load first acts on lifting module 81 by upper loading plate 811, then acts on damping module 82 by middle loading plate 812, after to be acted on by lower loading plate 821 and drive chassis 83, and to balance each other with the bearing force on ground suffered by drive wheel.

As shown in Fig. 4,5 and 6, the first height adjustment mechanism that lifting module 81 of the present invention comprises loading plate 811, middle loading plate 812 and is connected between loading plate 811 and middle loading plate 812.This first height adjustment mechanism comprises first connecting rod H01, second connecting rod H02, third connecting rod H03, double leval jib H04, the first waling stripe H05, the second waling stripe H06, the 3rd waling stripe H07, the 4th waling stripe H08, the 5th waling stripe H0, electric pushrod 8139 and cross sliding clock H10.Two ends and the centre of above-mentioned four connecting rods are all shaped with circular hole, be shaped with circular hole to the bilateral symmetry of upper loading plate 811 one end, above-mentioned two connecting rods through the circular hole of first connecting rod H01 one end, upper loading plate 811 one end and third connecting rod H03 one end, are fixedly connected with upper loading plate 811 by the first waling stripe H05 successively.Middle loading plate 812 upper strata is also shaped with circular hole symmetrically with the both sides of one end, above-mentioned two connecting rods with the circular hole of one end, are fixedly connected with middle loading plate 812 upper strata with one end and double leval jib H04 through the same one end of second connecting rod H02, middle loading plate 812 upper strata by the second waling stripe H06 successively.Be shaped with horizontal waist shaped hole to the bilateral symmetry of upper loading plate 811 other end, 3rd waling stripe H07 is successively through the circular hole of the second connecting rod H02 other end, the waist shaped hole of upper loading plate 811 other end and the circular hole of the double leval jib H04 other end, above-mentioned two connecting rods are fixedly connected with, and can along parallel motion in the waist shaped hole of upper loading plate 811.Middle loading plate 812 upper strata is also shaped with horizontal waist shaped hole symmetrically with the both sides of one end, corresponding with the horizontal waist-shaped hole position on upper loading plate 811,4th waling stripe H08 successively through first connecting rod H01 with the circular hole of one end, middle loading plate 812 upper strata with the waist shaped hole of one end and the third connecting rod H03 circular hole with one end, above-mentioned two connecting rods are fixedly connected with, and can along in loading plate 812 upper strata waist shaped hole in parallel motion.First connecting rod H01 and second connecting rod H02, third connecting rod H03 and double leval jib H04 intersect formation two respectively to the connecting rod intersected, 5th waling stripe H09 is successively through the middle circular hole of second connecting rod H02, first connecting rod H01, third connecting rod H03, double leval jib H04, above-mentioned four connecting rods are fixedly connected with, ensure that the center of four connecting rods has identical path of motion.Electric pushrod 814 is installed on the end face of middle loading plate 812, and the mouth of electric pushrod 814 is fixedly connected with the 4th waling stripe H08 by cross sliding clock H10.Electric pushrod 814 is electrically connected with the Vehicle Controller 6 of installed launch train, under the driving of electric pushrod 814, and can the parallel motion position in horizontal waist-shaped hole of active adjustment the 4th waling stripe H08.When the ground residing for launch train has larger diff-H, the load that each joint carrier loader bears has larger difference, by the ACTIVE CONTROL of electric pushrod 814, by the second waling stripe and the 4th horizontal slip of waling stripe in horizontal waist-shaped hole, be converted into the vertical displacement movement of middle loading plate 812 relative to upper loading plate 811, make the drive wheel of each joint carrier loader and there is between ground identical contact, ensureing that each joint carrier loader bears more uniform load.

As shown in Fig. 4,5 and 6, damping module 82 of the present invention comprises lower loading plate 821 and is arranged on the second height adjustment mechanism 822 and elastic buffering mechanism between lower loading plate 821 and middle loading plate 812.A thrust baring 822 is separately had to be installed on the bottom center of lower loading plate 821 by roller bearing end cap.Second height adjustment mechanism 822 comprises the 5th connecting rod H21, six-bar linkage H22, seven-link assembly H23, the 8th connecting rod H24, the 6th waling stripe H25, the 7th waling stripe H26, the 8th waling stripe H27, the 9th waling stripe H28, the tenth waling stripe H29.Two ends and the centre of above-mentioned four connecting rods are shaped with circular hole, be shaped with circular hole to the bilateral symmetry of middle loading plate 812 lower floor one end, above-mentioned two connecting rods through the circular hole of the 5th connecting rod H21 one end, middle loading plate 812 lower floor one end and seven-link assembly H23 one end, are fixedly connected with middle loading plate 812 lower floor by the 6th waling stripe H25 successively.Lower loading plate 821 is also shaped with circular hole symmetrically with the both sides of one end, the 7th waling stripe H26 successively through six-bar linkage H22 one end, lower loading plate 821 with the circular hole of one end and the 8th connecting rod H24 one end, above-mentioned two connecting rods are fixedly connected with lower loading plate 821.Be shaped with waist shaped hole to the bilateral symmetry of the middle loading plate 812 lower floor other end, 8th waling stripe H27 is successively through the circular hole of the circular hole of the six-bar linkage H22 other end, the waist shaped hole of the middle loading plate 812 lower floor other end and the 8th connecting rod H24 other end, above-mentioned two connecting rods are fixedly connected with, and can along in loading plate 812 lower floor waist shaped hole in parallel motion.Lower loading plate 821 is also shaped with waist shaped hole symmetrically with the both sides of one end, corresponding with the horizontal waist-shaped hole position on middle loading plate 812,9th waling stripe H28 successively through the 5th connecting rod H21 with the circular hole of one end, lower loading plate 821 with the waist shaped hole of one end and the seven-link assembly H23 circular hole with one end, above-mentioned two connecting rods are fixedly connected with, and can along parallel motion in the waist shaped hole of lower loading plate 821.Above-mentioned four connecting rods through the middle circular hole of six-bar linkage H22, the 5th connecting rod H21, seven-link assembly H23, the 8th connecting rod H24, are fixedly connected with by the tenth waling stripe H29 successively, ensure that the center of four connecting rods has identical path of motion.When the 8th waling stripe H27 or the 9th waling stripe H28 during parallel motion, drives the second height adjustment mechanism to move in the vertical direction in waist shaped hole.

Elastic buffering mechanism 823 comprises the first guide stanchion T01, the second guide stanchion T02, the first damping spring T03 and the second damping spring T04.First guide stanchion T01 and the second guide stanchion T02 is symmetrical relative to vertical axis 832, and the bottom of two guide stanchion is fixedly installed in the upper surface of lower loading plate 821, and the lower surface of top and middle loading plate 812 has certain buffer distance.First damping spring T03 and the second damping spring T04 is enclosed within the first guide stanchion T01 and the second guide stanchion T02 respectively, the upper and lower end face of these two damping springs is connected with the lower surface of middle loading plate 812, the upper surface of lower loading plate 821 respectively, and is in compressive state all the time.When ground unfairness residing for carrier loader, under the effect of these two damping spring pressure, promote height adjustment mechanism and change the vertical distance of lower loading plate 821 relative to middle loading plate 812.If ground is protruding, damping spring pressure becomes large, and lower loading plate 821 shortens relative to the vertical distance of middle loading plate 812, and the contact between drive wheel and ground becomes large.If ground is recessed, damping spring pressure diminishes, and lower loading plate 821 is elongated relative to the vertical distance of middle loading plate 812, and the contact between drive wheel and ground diminishes.But when the drive wheel pressure of certain joint carrier loader is obviously greater than aviation value, in initiatively being reduced by lifting module 81, loading plate 812 is relative to the vertical distance of upper loading plate 811.When the drive wheel pressure of certain joint carrier loader is significantly less than aviation value, in initiatively being increased by lifting module 81, loading plate 812 is relative to the vertical distance of upper loading plate 811.

As best shown in figures 5 and 7, driving chassis 83 of the present invention comprises chassis overhang 831, vertical axis 832, angular transducer C833, horizontal shaft 834 and is arranged on first drive wheel 835 and second drive wheel 836 at horizontal shaft 834 two ends.Vertical axis 832 lower end is fixed on the center of chassis overhang 831, upper end is installed on the inner ring of the thrust baring 822 of lower loading plate 821 bottom surface, the outer ring of thrust baring 822 is installed on lower loading plate 821 by roller bearing end cap, chassis overhang 831 can rotate relative to the axis of lower loading plate 821 along vertical axis 832, namely drives chassis 83 can rotate relative to the axis of drive wheel device 8 along vertical axis 832.Horizontal shaft 834 is each passed through the hole in chassis overhang 831 arranged on left and right sides face, and fixes with chassis overhang 831.First drive wheel 835 is installed on the left side external part of horizontal shaft 834 by antifriction-bearing box, and the wheel hub end face of the first drive wheel 835 is combined with the end face of first sprocket wheel and fixes, and the endoporus of first sprocket wheel passes the left side external part of horizontal shaft 834 and do not contact.First driving wheel motor 837 is fixed on the left end face of chassis overhang 831, and the first minor sprocket is installed on the output shaft of the first driving wheel motor 837 by key, and the first minor sprocket is connected by chain with first sprocket wheel.Second drive wheel 836 is installed on the right side external part of horizontal shaft 834 by antifriction-bearing box, and the wheel hub end face of the second drive wheel 836 is combined with the end face of second largest sprocket wheel and fixes, and the endoporus of second largest sprocket wheel passes the left side external part of horizontal shaft 834 and do not contact.Second driving wheel motor 838 is fixed on its right end face of chassis overhang 831, and the second minor sprocket is installed on the output shaft of the second driving wheel motor 838 by key, and the second minor sprocket is connected by chain with second largest sprocket wheel.First drive wheel 837 and the second drive wheel 836 install tachogen respectively, and tachogen is electrically connected with Vehicle Controller 6, and tachogen measures the velocity of rotation of two drive wheels, and this velocity of rotation is transferred in Vehicle Controller 6.

As shown in Fig. 1, Fig. 4 and Fig. 8, drive wheel device 8 of the present invention is connected with vehicle frame 7 by upper loading plate 811, and guiding sensor 9 is fixedly installed in the front end face driving chassis 83 by pivot arm 91.Owing to driving chassis 83 can rotate relative to the axis of drive wheel device 8 along vertical axis 832, then guiding sensor 9 can rotate around the axis of vertical axis 832, the guide path around turntable driving wheel apparatus 8.The characteristic signal of guiding sensor 9 identifiable design guide path, can measure homing guidance power carrier loader 3 relative to the horizontal position deviation of guide path and attitude angle deviation by it.

As shown in Figure 9, vehicle frame 7 of the present invention is provided with the first anterior cardan wheel 71, second cardan wheel 72 and first directional wheel 73, second directional wheel 74 at rear portion.First cardan wheel 71 and the second cardan wheel 72 are symmetrical about the cross central line of vehicle frame 7, the first directional wheel 73 and the second directional wheel 74 symmetrical about the cross central line of vehicle frame 7.Servo-actuated carrier loader 5 comprises Vehicle Controller 6 and vehicle frame 7, power carrier loader 4 comprises Vehicle Controller 6, vehicle frame 7, drive wheel device 8 and supply unit, and homing guidance power carrier loader 3 comprises Vehicle Controller 6, vehicle frame 7, drive wheel device 8, guiding sensor 9, electronic compass and supply unit.For homing guidance power carrier loader 3 and power carrier loader 4, drive wheel device 8 is fixedly installed on the cross central line of vehicle frame 7, and is positioned between cardan wheel and directional wheel.

As shown in Figure 10, the overall operation of the Vehicle Controller composition control network control launch train in the present invention on each joint carrier loader, be installed on the angular transducer in push-pull arrangement and displacement pickup, be installed on the pressure sensor in drive wheel device 8, angular transducer and guiding sensor and electric pushrod and drive motor, the Vehicle Controller be installed on carrier loader that the electronic compass in vehicle frame 7 all installs with it is electrically connected.In Fig. 10, left pane is each sensor and electronic compass, and middle square is controller, and right pane is drive motor in drive wheel device and electric pushrod.Wherein, the sensor in push-pull arrangement is all installed on homing guidance power carrier loader 3, power carrier loader 4 and servo-actuated carrier loader 5; Sensor in drive wheel device is installed on homing guidance power carrier loader 3 and power carrier loader 4, and guiding sensor and electronic compass are installed on homing guidance power carrier loader 3.As seen from the figure, for homing guidance power carrier loader 3, power carrier loader 4 and servo-actuated carrier loader 5, the input end of Vehicle Controller 6 is recommended angular transducer B237 in sub-device with this joint carrier loader stem Type B and is electrically connected, and measures the rotational angle of this joint carrier loader and front push-pull arrangement the input end of Vehicle Controller 6 is recommended angular transducer A210 in sub-device with this carrier loader afterbody A type and is electrically connected, and measures the rotational angle of this joint carrier loader and rear push-pull arrangement the input end of Vehicle Controller 6 is recommended displacement pickup 211 in sub-device with this joint carrier loader afterbody A type and is electrically connected, and measures the traction thrust F between this joint carrier loader and deutomerite carrier loader _t.For homing guidance power carrier loader 3 and power carrier loader 4, the input end of Vehicle Controller 6 is electrically connected with pressure sensor 814 in drive wheel device 8, measures the working load N that drive wheel device 8 bears _p; The input end of Vehicle Controller 6 is electrically connected with angular transducer C833 in drive wheel device 8, measures the rotational angle driving chassis 83 relative to drive wheel device 8 the mouth of Vehicle Controller 6 is connected with the actuator electrical of electric pushrod 813 in drive wheel device 8, controls the lifting travel height H of lifting module 81 _p; The mouth of Vehicle Controller 6 is connected with the actuator electrical of the first driving wheel motor 837, second driving wheel motor 838 in drive wheel device 8, controls the linear velocity v of the first drive wheel 836 _lwith the linear velocity v of the second driving wheel motor 838 _r.For homing guidance power carrier loader 3, the input end of Vehicle Controller 6 is electrically connected with guiding sensor 9, measures the horizontal position deviation L of homing guidance power carrier loader 3 relative to guide path _ewith attitude angle deviation θ _e; The input end of Vehicle Controller 6 is electrically connected with electronic compass, measures the azimuth ψ of homing guidance power carrier loader 3.

Vehicle Controller on homing guidance power carrier loader 3, power carrier loader 4 and servo-actuated carrier loader 5 in the present invention utilizes existing communication medium to form controller network.The Vehicle Controller of homing guidance power carrier loader 3 is master controller node vehicle Controller on power carrier loader 4 and servo-actuated carrier loader 5 is from controller node from the master controller node of first segment homing guidance power carrier loader start, every two master controller nodes with between all from controller node with previous master controller node form i-th controller group the intercommunication of the master controller in each controller group.Wherein, subscript m represents master controller, and subscript s represents from controller, and subscript i represents i-th controller group, and subscript i_0 represents the master controller of i-th controller group, and subscript i_k represents that in i-th controller group, kth is individual from controller.

In same controller group, each from controller node by push-pull arrangement rotational angle before measured rear push-pull arrangement rotational angle and deutomerite carrier loader traction thrust send to the master controller node in this controller group this master controller node according to measured rear push-pull arrangement rotational angle and deutomerite carrier loader traction thrust calculate jth joint carrier loader and jth+1 in i-th controller group by formula (1) and (2) and save the rotational angle between carrier loader and traction thrust

$F_i^{j,j+1}=F_t^{i\_j},j=0,1,2...k---\left(2\right)$

In formula, k is the number from controller node in i-th controller group.

As shown in figure 11, in the 1st controller group, Section of 0 rotational angle between carrier loader and Section 1 carrier loader is

In the 1st controller group, Section of 0 traction thrust between carrier loader and Section 1 carrier loader is

$F_1^{0,1}=F_t^{1\_0}$

Between controller group, last master controller node by the rear push-pull arrangement rotational angle of final section carrier loader in group and deutomerite carrier loader traction thrust a master controller node after sending to by it according to push-pull arrangement rotational angle before measured the rotational angle between the i-th+1 joint homing guidance power carrier loader and prosthomere carrier loader is calculated by formula (3) and (4) and traction thrust

$F_m^{i+1}=F_t^{i\_k}---\left(4\right)$

As shown in figure 11, the master controller node of the 1st controller group by the rear push-pull arrangement rotational angle of final section carrier loader in group and deutomerite carrier loader traction thrust send to the master controller node of the 2nd controller group the rotational angle calculated between Section 2 homing guidance power carrier loader and prosthomere carrier loader by it is

Traction thrust between Section 2 homing guidance power carrier loader and prosthomere carrier loader is

$F_m^2=F_t^{1\_2}$

Last master controller node also jth joint carrier loader and jth+1 in group are saved the rotational angle between carrier loader a master controller node after sending to a rear master controller node according to the rotational angle between itself and prosthomere carrier loader the rotational angle that the i-th+1 joint homing guidance power carrier loader and i-th saves homing guidance power carrier loader is calculated by formula (5)

As shown in figure 11, the master controller node of the 1st controller group also jth joint carrier loader and jth+1 (j=0,1) in group are saved the rotational angle between carrier loader send to the master controller node of the 2nd controller group according to the rotational angle between itself and prosthomere carrier loader the rotational angle of Section 2 homing guidance power carrier loader and Section 1 homing guidance power carrier loader is

As shown in figure 12, the progress control method of the configurable trackless launch train of homing guidance of the present invention is divided into two levels.Between multiple controller group, adopt distributed AC servo system, the synthetic operation carried out between more piece homing guidance power carrier loader controls.

First master controller node according to factors such as system task instruction, path complex situations, Traffic Congestions, decide the running velocity of first segment homing guidance power carrier loader in its sole discretion and this speed is as the reference velocity of permutation launch train.

Guiding sensor records the attitude angle deviation of the i-th joint homing guidance power carrier loader relative to guide path in drive wheel device, angular transducer records and drives the pivot angle of chassis and carrier loader to be the then running velocity of other homing guidance power carrier loaders meet the objective function minimized described in formula (6).

$Y\left(v_m^i\right)={\mathrm{\η}}_1\underset{i}{\mathrm{\Σ}}{\left(v_m^i\cos \left({\mathrm{\θ}}_e^{mi}+{\mathrm{\φ}}_m^i\right)-v_m^1\cos \left({\mathrm{\θ}}_e^{m1}+{\mathrm{\φ}}_m^1\right)\right)}^2+{\mathrm{\η}}^2\underset{i}{\mathrm{\Σ}}{\left(F_m^i\right)}^2---\left(6\right)$

Wherein, $V_m=\[\begin{array}{cccc}{v}_m^2& v_m^3& ...& v_m^i\end{array}\]$ For input vector to be asked, η ₁and η ₂for weight coefficient.This objective function is multi input, single output problem, can adopt multiple conventional Optimization Method, be not repeated herein.

In the i-th controller group, the average rotation angle between carrier loader calculate by formula (7), the average traction thrust between carrier loader calculate by formula (8):

$\stackrel{\‾}{F_i}=\left(\underset{j=1}{\overset{k}{\Σ}}{F}_i^{j-1,j}\right)/k---\left(8\right)$

Electronic compass records the azimuth of the i-th joint homing guidance power carrier loader this angle is not the attitude angle deviation relative to guide path, but relative to the absolute azimuth of ground static system of axes.In the i-th controller group, the running velocity of dynamic carrier loader meet the objective function minimized described in formula (9).

Wherein, $V_s=\left[\begin{array}{cccc}{v}_s^{i\_1}& v_s^{i\_2}& \mathrm{...}& v_s^{i\_k}\end{array}\right]$ For input vector to be asked, η ₃, η ₄and η ₅for weight coefficient.This objective function is multi input, single output problem, can adopt multiple conventional Optimization Method.

In permutation launch train, to jth joint homing guidance power carrier loader or power carrier loader, suppose that its quality of loads is M _j, acceleration/accel is a _j, acceleration due to gravity is g, and itself and the continuous b in front save the traction thrust between servo-actuated carrier loader for thrust itself and the continuous c in rear save the traction thrust between servo-actuated carrier loader for pulling force then jth joint homing guidance power carrier loader or the total power-handling capability needed for power carrier loader are:

Hypothesis driven wheel is μ with the friction coefficient lower limit on ground ₁, higher limit is μ ₂, it is N that pressure sensor measures the load that in jth joint homing guidance power carrier loader or power carrier loader, drive wheel device bears _j.

If then being driven by lifting module drives chassis to move downward, and increases the thrust between drive wheel device and ground;

If then driven by lifting module and drive chassis upward movement, reduce the thrust between drive wheel device and ground.

The above is only the preferred embodiment of the present invention, it should be pointed out that for those skilled in the art, can also make some improvement under the premise without departing from the principles of the invention, and these improvement also should be considered as protection scope of the present invention.

Claims (9)

1. the configurable trackless launch train of homing guidance, is characterized in that: at least comprise a joint and be positioned at launch train homing guidance power carrier loader foremost and the servo-actuated carrier loader of some joints and/or power carrier loader; Be connected by three-dimensional independent degree push-pull arrangement between described each carrier loader;

Installation car set controller, drive wheel device, electronic compass on described homing guidance power carrier loader, described drive wheel device is installed guiding sensor, and described drive wheel device, guiding sensor and electronic compass are all electrically connected with Vehicle Controller; Described guiding sensor is for identifying guide path;

Installation car set controller on described servo-actuated carrier loader;

Installation car set controller and drive wheel device on described power carrier loader, described drive wheel device electrical connection Vehicle Controller;

Described three-dimensional independent degree push-pull arrangement comprises the first push-pull arrangement and the second push-pull arrangement that are connected by horizontally moving device, described first push-pull arrangement and the second push-pull arrangement are connected adjacent two joint carrier loaders respectively, and described first push-pull arrangement and the second push-pull arrangement are measured the forward and backward rotational angle that is connected carrier loader with it respectively and be transferred in the Vehicle Controller on connected carrier loader; Traction thrust between adjacent two joint carrier loaders is transferred in the Vehicle Controller of prosthomere carrier loader in adjacent two joint carrier loaders by described horizontally moving device;

The Vehicle Controller composition control device network control launch train overall operation of described homing guidance power carrier loader, servo-actuated carrier loader and power carrier loader.

2. the configurable trackless launch train of homing guidance according to claim 1, it is characterized in that: in described three-dimensional independent degree push-pull arrangement the first push-pull arrangement and the second push-pull arrangement include and recommend bearing, recommend connecting rod, vertical axis and angular transducer, described vertical axis is through the upper lower cantalever of recommending bearing and can rotate around its axis; Described connecting rod of recommending is connected with vertical axis, with vertical axes, and can slide up and down along vertical axis axis; Rotating shaft and the vertical axis of described angular transducer are connected, the body of angular transducer with recommend bearing and be connected;

The upper and lower end face of recommending connecting rod of described first push-pull arrangement or the second push-pull arrangement and recommend between bearing and be provided with vertical spring element;

Described horizontally moving device comprises horizontal slip sleeve and displacement pickup, the connecting rod of recommending that one end of described horizontal slip sleeve and upper and lower end face are provided with vertical spring element is connected, other end perforate, connecting rod of recommending for the first push-pull arrangement or the second push-pull arrangement inserts, and recommends connecting rod and can to slide in the horizontal direction relative to horizontal slip sleeve and spacing; Institute's displacement sensors is arranged in horizontal slip sleeve, measures the relative displacement of recommending connecting rod and horizontal slip sleeve inserted in horizontal slip sleeve; Be provided with horizontal resiliency element in described horizontal slip sleeve, one end of horizontal resiliency element is connected with horizontal slip sleeve lining, the other end with recommend connecting rod and be connected;

The Vehicle Controller electrical connection of angular transducer on described first push-pull arrangement and the second push-pull arrangement respectively on connected carrier loader; Institute's displacement sensors is electrically connected with adjacent two Vehicle Controllers saving prosthomere carrier loader in carrier loader.

3. the configurable trackless launch train of homing guidance according to claim 1 and 2, it is characterized in that: described drive wheel device comprise connect successively from top to bottom lifting module, damping module, drive chassis and be arranged on lifting module top pressure sensor, described driving chassis and damping model calling, driving chassis can relative to damping module in rotating; Described driving chassis comprises support, angular transducer, rack-mount vertical axis, rack-mount horizontal shaft and is arranged on the first drive wheel and second drive wheel at horizontal shaft two ends, described first drive wheel and the second drive wheel adopt independently actuating device to drive respectively, described first drive wheel and the second drive wheel all install tachogen, and tachogen is electrically connected with Vehicle Controller; Rotating shaft and the vertical axis of described angular transducer are connected, and body and the damping module of angular transducer are connected; Described pressure sensor, lifting module and angular transducer are electrically connected with Vehicle Controller.

4. the configurable trackless launch train of homing guidance according to claim 3, is characterized in that: the first height adjustment mechanism that described lifting module comprises loading plate, middle loading plate and is connected between loading plate and middle loading plate; Described first height adjustment mechanism comprises two to connecting rod arranged in a crossed manner, electric pushrod, described two are fixedly connected with the both sides of upper loading plate, middle loading plate respectively to connecting rod one end arranged in a crossed manner, the other end is flexibly connected respectively by the horizontal waist-shaped hole of two waling stripes with upper loading plate, middle loading plate both sides, and the horizontal waist-shaped hole position on upper loading plate and middle loading plate is corresponding; Described electric pushrod connects arbitrary waling stripe, electric pushrod level of control connecting rod parallel motion in horizontal waist shaped hole, described electric pushrod electrical connection Vehicle Controller.

5. the configurable trackless launch train of homing guidance according to claim 3, is characterized in that: described damping module comprises lower loading plate, middle loading plate and the second height adjustment mechanism be arranged between lower loading plate and middle loading plate and elastic buffering mechanism; Described second height adjustment mechanism comprises two to connecting rod arranged in a crossed manner, described two are fixedly connected with the both sides of lower loading plate, middle loading plate respectively to connecting rod one end arranged in a crossed manner, the other end is flexibly connected respectively by the horizontal waist-shaped hole of two waling stripes with lower loading plate, middle loading plate both sides, and the horizontal waist-shaped hole position on lower loading plate and middle loading plate is corresponding; Described waling stripe can parallel motion in waist shaped hole.

6. the configurable trackless launch train of homing guidance according to claim 5, it is characterized in that: described elastic buffering mechanism comprises and is fixed on the first guide stanchion on middle loading plate/lower loading plate and the second guide stanchion, first guide stanchion and be provided with dash clearance between the second guide stanchion and lower loading plate/middle loading plate, described first guide stanchion and the second guide stanchion are set with damping spring, and the two ends up and down of described damping spring are connected with middle loading plate, lower loading plate respectively.

7. the configurable trackless launch train of homing guidance according to claim 1 and 2, is characterized in that: described homing guidance power carrier loader, servo-actuated carrier loader and/or power carrier loader all install the first cardan wheel, the second cardan wheel, the first directional wheel and the second directional wheel; Described first cardan wheel and the second cardan wheel are positioned at the front portion of carrier loader, first directional wheel and the second directional wheel are positioned at the rear portion of carrier loader, and described first cardan wheel and the second cardan wheel, the first directional wheel and the second fixed wheel cross central line all about carrier loader is symmetrical; The drive wheel device of described homing guidance power carrier loader and power carrier loader is fixedly mounted on the cross central line of carrier loader, between cardan wheel and directional wheel.

8. the configurable trackless launch train of homing guidance according to claim 1 and 2, is characterized in that: described net control comprises several controller groups, in described each controller group, the Vehicle Controller of homing guidance power carrier loader is master controller node vehicle Controller on power carrier loader and/or servo-actuated carrier loader is from controller node every two master controller nodes with between all from controller node k=1,2,3 ..., with previous master controller node form i-th controller group the intercommunication of the master controller node in each controller group;

In described each controller group, each from controller node by push-pull arrangement rotational angle before measured by it rear push-pull arrangement rotational angle and deutomerite carrier loader traction thrust send to the master controller node of this group master controller node according to measured rear push-pull arrangement rotational angle and deutomerite carrier loader traction thrust calculate jth joint carrier loader and jth+1 in i-th controller group by formula (1) and (2) and save the rotational angle between carrier loader and traction thrust

${F_i}^{j,j+1}={F_t}^{i\_j},j=0,1,2...k---\left(2\right)$

In formula, k is the number from controller node in i-th controller group;

Between described controller group, last master controller node by the rear push-pull arrangement rotational angle of final section carrier loader in this group and deutomerite carrier loader traction thrust master controller node in a controller group after sending to master controller node in a rear control group push-pull arrangement rotational angle before recording according to it the rotational angle between the i-th+1 joint homing guidance power carrier loader and prosthomere carrier loader is calculated by formula (3) and (4) and traction thrust

$F_m^{i+1}=F_t^{i\_k}---\left(4\right)$

Between described controller group, described last master controller node jth joint carrier loader and jth+1 in the control group of place are saved the rotational angle between carrier loader a master controller node after sending to a rear master controller node according to the rotational angle between itself and last joint carrier loader the rotational angle that the i-th+1 joint homing guidance power carrier loader and i-th saves homing guidance power carrier loader is calculated by formula (5)

9. the progress control method of the configurable trackless launch train of homing guidance according to claim 1, is characterized in that: the first homing guidance power carrier loader train master controller node in described launch train control the running velocity of the first homing guidance power carrier loader as the reference velocity of permutation launch train;

Guiding sensor on i-th joint homing guidance power carrier loader records its attitude angle deviation relative to guide path in drive wheel device, angular transducer records and drives the pivot angle of chassis and carrier loader to be the then running velocity of other homing guidance power carrier loaders meet the objective function minimized described in formula (6):

$Y\left(v_m^i\right)={\mathrm{\η}}_1\underset{i}{\Σ}{\left(v_m^{i}cos\right({\mathrm{\θ}}_e^{mi}+{\mathrm{\φ}}_m^i)-v_m^{1}cos({\mathrm{\θ}}_e^{m1}+{\mathrm{\φ}}_m^1\left)\right)}^2+{\mathrm{\η}}_2\underset{i}{\Σ}{\left(F_m^i\right)}^2---\left(6\right)$

In formula, $V_m=\left[\begin{array}{cccc}{v}_m^2& v_m^3& ...& v_m^i\end{array}\right]$ For input vector to be asked, η ₁and η ₂for weight coefficient;

Electronic compass records the azimuth of the i-th joint homing guidance power carrier loader in the i-th controller group, the average rotation angle between carrier loader for:

In the i-th controller group, the average traction thrust between carrier loader for:

$\stackrel{\‾}{F_i}=\left(\underset{j=1}{\overset{k}{\Σ}}{F_i}^{j-1,j}\right)/k---\left(8\right)$

In the i-th controller group, the running velocity of power carrier loader meet the objective function minimized described in formula (9);

In formula, $V_s=\left[\begin{array}{cccc}{v}_s^{i\_1}& v_s^{i\_2}& ...& v_s^{i\_k}\end{array}\right]$ For input vector to be asked, η ₃, η ₄and η ₅for weight coefficient;

In permutation launch train, to jth joint homing guidance power carrier loader or power carrier loader, if its quality of loads is M _j, acceleration/accel is a _j, acceleration due to gravity is g, and itself and the continuous b in front save the traction thrust between servo-actuated carrier loader for thrust itself and the continuous c in rear save the traction thrust between servo-actuated carrier loader for pulling force then jth joint homing guidance power carrier loader or the total power-handling capability needed for power carrier loader are:

$F_D^j=\left|\underset{n=1}{\overset{b}{\Σ}}\stackrel{\←}{{F_i}^{j-n,j}}\right|+\left|\underset{n=1}{\overset{c}{\Σ}}\stackrel{\←}{{F_i}^{j,j-c}}\right|+{\mathrm{\μ}}_1{M}_{j}g+M_j{a}_j---\left(10\right)$

If the friction coefficient lower limit on drive wheel and ground is μ ₁, higher limit is μ ₂, it is N that pressure sensor measures the load that in jth joint homing guidance power carrier loader or power carrier loader, drive wheel device bears _j;

If then increase the thrust between drive wheel device and ground;

If then reduce the thrust between drive wheel device and ground.