CN108790668B - AGV trolley anti-skid system and anti-skid adjusting method - Google Patents
AGV trolley anti-skid system and anti-skid adjusting method Download PDFInfo
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- CN108790668B CN108790668B CN201810814762.3A CN201810814762A CN108790668B CN 108790668 B CN108790668 B CN 108790668B CN 201810814762 A CN201810814762 A CN 201810814762A CN 108790668 B CN108790668 B CN 108790668B
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000004891 communication Methods 0.000 claims abstract description 4
- 230000008602 contraction Effects 0.000 claims abstract description 3
- 238000005259 measurement Methods 0.000 claims description 8
- 239000000725 suspension Substances 0.000 claims description 7
- 239000003638 chemical reducing agent Substances 0.000 claims description 5
- 230000006835 compression Effects 0.000 claims description 3
- 238000007906 compression Methods 0.000 claims description 3
- 230000008878 coupling Effects 0.000 abstract description 3
- 238000010168 coupling process Methods 0.000 abstract description 3
- 238000005859 coupling reaction Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
Abstract
The invention discloses an AGV trolley anti-skid system and an adjusting method, wherein each driving wheel is provided with one or more active control spring units, and each active control spring unit comprises a driving motor, a main fixing assembly, a coupler, a screw rod, a spring, a sliding block and a pressure sensor; the sliding block is connected with the screw rod through threads; the spring is sleeved on the screw rod, the upper surface of the spring is connected with the bottom of the sliding block, the lower surface of the spring is connected with the connecting piece, and the spring is applied to the driving wheel through the connecting piece; the pressure sensor is arranged at the joint of the spring and the connecting piece and is in communication connection with the industrial personal computer; the driving motor is fixed on the main fixing component and is controlled by the industrial personal computer, the lead screw is driven by the coupling, the sliding block is controlled to move up and down, and the expansion and contraction amount of the spring is adjusted. According to the invention, the positive pressure between the driving wheel and the ground is actively controlled by carrying the active control spring unit, so that the phenomenon of skidding of the AGV driving wheel is effectively prevented.
Description
Technical Field
The invention relates to the technical field of AGVs, in particular to an AGV trolley anti-skid system and an anti-skid adjusting method.
Background
AGVs are abbreviations for (Automated Guided Vehicle), i.e. "automated guided vehicles", which generally employ a structure of two drive wheels in the middle of a floor and four omni-directional load bearing wheels from the end of the floor. In the AGV moving process, if the situation of uneven ground is encountered, the problem of suspended slipping of the driving wheel can occur.
Conventional AGV carts have a suspension spring mounted over the drive wheel, the spring being normally in a compressed state. When the driving wheel enters the pit, the compressed spring can lead the driving wheel to land due to extension, so that the hanging slipping of the driving wheel is effectively prevented. However, after the suspension springs are installed, the pressure N of the driving wheel to the ground can be maintained at a fixed value due to the action of the springs and cannot be changed, so that the problem of skidding of the AGV caused by insufficient positive pressure N of the driving wheel cannot be solved.
Disclosure of Invention
Aiming at the problems, the invention provides an AGV trolley anti-skid system and an anti-skid adjusting method, which are used for increasing the positive pressure of a driving wheel and solving the problem of skid of the AGV trolley caused by insufficient positive pressure N of the driving wheel.
In order to achieve the above purpose, the technical scheme of the invention is realized as follows: an AGV trolley antiskid system is provided with 1 or more active control spring units on each driving wheel;
the active control spring unit comprises a driving motor, a main fixing component, a coupler, a screw rod, a spring, a sliding block and a pressure sensor; the sliding block is connected with the screw rod through threads; the spring is sleeved on the screw rod, the upper surface of the spring is connected with the bottom of the sliding block, the lower surface of the spring is connected with the connecting piece, and the spring is applied to the driving wheel through the connecting piece; the pressure sensor is arranged at the joint of the spring and the connecting piece and is in communication connection with the industrial personal computer; the driving motor is fixed on the main fixing component and is controlled by the industrial personal computer, the lead screw is driven by the coupling, the sliding block is controlled to move up and down, and the expansion and contraction amount of the spring is adjusted.
Furthermore, each driving wheel carries 2 active control spring units, and the 2 active control spring units are symmetrically distributed.
Furthermore, the active control spring unit further comprises a linear velocity measuring device, and the linear velocity measuring device is connected with the industrial personal computer.
Still further, the linear velocity measuring device comprises an inertial measurement unit IMU or a passive wheel odometer or a laser odometer.
Further, the main fixing component consists of an upper fixing plate, a lower fixing plate and a middle connecting plate.
Further, the connecting piece comprises a guide shaft, a linear bearing and a U-shaped frame; the guide shaft is fixed on the main fixing component; the U-shaped frame is placed horizontally, the upper plate and the lower plate are provided with through holes, and the through holes are sleeved on the guide shaft to move; the linear bearing is connected with the guide shaft through a ball, and is fixed on the U-shaped frame through a nut; the bottom plate at the lower end of the U-shaped frame is connected with the spring; the U-shaped frame is connected with a driving wheel.
Furthermore, a bearing arranged on the connecting shaft of the driving wheel and the speed reducer is provided with a bearing fixing sleeve, and the U-shaped frame is connected to the bearing fixing sleeve.
The invention also provides an AGV trolley anti-skid adjustment method applying the anti-skid system, which comprises the following steps:
(1) When the AGV trolley enters a new place, different load capacities mg are applied to the AGV trolley, the active control spring units of the driving wheels are adjusted through the driving motor, the minimum positive pressure N corresponding to the active control spring units when the trolley does not slip just under each load capacity is measured, and data are recorded in the database;
(2) When the AGV trolley actually carries objects in the field, extracting the minimum positive pressure N of the corresponding active control spring unit from the database according to the actual carrying capacity; if the actual load capacity is between two load capacities recorded in the database, taking the minimum positive pressure of the active control spring unit corresponding to the larger load capacity; the industrial personal computer controls the active control spring unit to provide the minimum positive pressure;
(3) If the driving wheel still slips, the driving wheel positive pressure is timely adjusted through the driving motor control spring, and closed-loop control is performed.
Further, in the step (1),
(101) The carrying capacity is required to be within the bearing range of the AGV trolley;
(102) Setting a threshold value sigma, when: v Vehicle body -v Driving wheel The I is less than or equal to Be, and the trolley is considered to be just not slipped;
wherein v is Vehicle body For AGV trolley body speedThe degree is measured by an Inertial Measurement Unit (IMU); v Driving wheel The horizontal linear speed of the driving wheel is obtained by 2 pi rn, r is the radius of the driving wheel, and n is the rotating speed of the motor of the driving wheel.
Further, the method of closed loop control in the step (3) is as follows:
(301) Calculating the horizontal linear velocity v of the driving wheel according to the radius r of the driving wheel and the rotating speed n of the driving wheel Driving wheel ；
(302) Acquiring the speed v of the AGV trolley body according to the data acquired by the IMU Vehicle body ；
(303) Setting a threshold value sigma, and judging |v Vehicle body -v Driving wheel Whether I is smaller than or equal to Be, if yes, no control is performed. If the pressure is larger than sigma, the motor is required to drive the suspension spring to compress downwards, and the positive pressure of the driving wheel is increased until the pressure is |v Vehicle body -v Driving wheel And I is less than or equal to Be, namely stopping compression.
Compared with the prior art, the invention has the following beneficial effects:
1. the positive pressure between the driving wheel and the ground is actively controlled by carrying the active control spring unit, so that the phenomenon of skidding of the driving wheel of the AGV is effectively prevented;
2. the data is built through collecting the data, the positive pressure of the driving wheel can be quickly and coarsely adjusted according to different object carrying quantities so as to prevent slipping, if the trolley still slips after coarse adjustment, the trolley is finely adjusted through a closed-loop control method until the trolley does not slip, and the anti-slip control is more efficient through coarse adjustment and fine adjustment.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a front view of the present invention;
FIG. 3 is a side view of the present invention;
FIG. 4 is a schematic diagram of data acquisition in accordance with the present invention;
fig. 5 is a schematic diagram of a closed loop control method of the present invention.
Wherein:
1. a drive motor 1; 2. A coupling; 3. A main fixing assembly;
4. a screw rod; 5. A spring 6 and a slider;
7. a guide shaft; 8. A U-shaped frame; 9. A linear bearing;
10. a pressure sensor; 11. A driving wheel; 12. A speed reducer;
13. and a bearing fixing sleeve.
Detailed Description
It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other.
As shown in fig. 1, 2 and 3, each driving wheel of the AGV is provided with a plurality of active control spring units, and the number of the active control spring units is 2 in the embodiment and symmetrically distributed;
the active control spring unit consists of a driving motor 1, a coupler 2, a main fixing component 3, a screw 4, a spring 5, a sliding block 6, a guide shaft 7, a U-shaped frame 8, a linear bearing 9 and a pressure sensor 10.
The main fixing component 3 consists of an upper fixing plate, a lower fixing plate and a middle connecting plate;
the driving motor 1 and the guide shaft 7 are both fixed on the main fixing component;
the sliding block 6 is connected with the screw rod 4 through threads;
the spring 5 is sleeved on the screw rod 4, the upper surface is connected with the bottom of the sliding block 6, and the lower surface is connected with the bottom plate of the long end of the U-shaped frame 8 in a compressed state; the pressure sensor 10 is added at the joint of the spring 5 and the long-end bottom plate and is in communication connection with the industrial personal computer;
the two ends of the guide shaft 7 are fixed on the main fixing component 3 through nuts;
the linear bearing 9 is connected with the guide shaft 7 through a ball, and is fixed on the U-shaped frame 8 through a nut;
the upper and lower plates of the U-shaped frame 8 are provided with through holes and sleeved on the guide shaft 7 to move up and down;
the driving wheel 11 is connected with the speed reducer 12 through a connecting shaft;
the bearing is connected with the driving wheel 11 through a connecting shaft for strengthening the strength of the speed reducer shaft;
the bearing is connected with the bearing fixing sleeve 13;
the bearing fixing sleeve 13 is connected with the U-shaped connecting frame 8 through nuts.
The active control spring unit further comprises a linear velocity measuring device which can be an inertial measuring unit IMU or a driven wheel odometer or a laser odometer, and the inertial measuring unit IMU is adopted in the embodiment and is arranged at the gravity center of the AGV trolley.
The invention can apply different carrying capacities m to the AGV trolley when the AGV enters a new place 1 g, the deformation quantity of the driving wheel spring is regulated through the driving motor 1, and the data N of the pressure sensor corresponding to the active control spring unit when the trolley does not slip just is measured 1 And establishing a corresponding database. When the AGV small vehicle mass changes, the minimum positive pressure of the drive wheel without slipping can be quickly detected through the database.
The specific method is as follows:
when the AGV enters a new place, different load capacities mg are applied to the AGV trolley, the deformation quantity of the suspension spring above the driving wheel is adjusted through the driving motor 1, the minimum pressure N corresponding to the elastic unit when the trolley does not slip just is measured, and the total mass m of a plurality of groups of small vehicle-mounted objects and the database of the minimum positive pressure N of the driving wheel when the trolley does not slip are acquired. As shown in fig. 4.
The load weight must be within the load bearing range of the AGV.
According to the car body speed v Vehicle body Horizontal linear velocity v with trolley driving wheel Driving wheel Setting a threshold value sigma, when:
|v vehicle body -v Driving wheel |≤б，
The trolley can be considered to be just not slipping.
AGV Car body speed v Vehicle body The horizontal linear velocity v of the driving wheel can be measured by an inertial measurement unit IMU Driving wheel Can be obtained from 2pi rn (r is the radius of the driving wheel, n is the rotation speed of the driving motor, and the unit is the rotation per second).
Wherein m is 0 For the quality of the AGV when no object is carried, namely empty quality, N 0 Is the minimum positive pressure when the driving wheel is just not slipping at the moment; m is m 1 、m 2 … … is the quality of the AGV trolley for loading cargoesThe amounts N1, N2 … … correspond to the minimum positive pressure of the drive wheel when the trolley is just not slipping, respectively.
When the quantity of the small vehicle-mounted object of the AGV is within (0, m) 1 ]The pressure applied to the driving wheel is N can be obtained rapidly through collecting a database 1 If the load mass is within (m) 1 ,m 2 ]Between which a pressure of N should be applied to the driving wheel 2 And so on.
The pressure of the driving wheel can be quickly adjusted by checking the database to prevent the driving wheel from slipping, but certain errors exist in data acquisition, and the step is only rough adjustment. The fine tuning is performed by a closed-loop control method, when the trolley control unit detects that the driving wheel still slips, i.e. |v Vehicle body -v Driving wheel And the positive pressure of the driving wheel is timely adjusted through a motor driving suspension spring to control the slip.
The driving wheel positive pressure closed-loop control method comprises the following steps:
1. calculating the horizontal linear velocity v of the driving wheel according to the radius r of the driving wheel and the rotating speed n of the driving wheel Driving wheel ；
2. Acquiring the speed v of the AGV trolley body according to the data acquired by the IMU Vehicle body ；
3. Judging |v Vehicle body -v Driving wheel Whether I is smaller than or equal to Be, if yes, no control is performed. If the pressure is larger than sigma, the motor is required to drive the suspension spring to compress downwards, and the positive pressure of the driving wheel is increased until the pressure is |v Vehicle body -v Driving wheel And I is less than or equal to Be, namely stopping compression.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the concept of the present invention, and such modifications and adaptations are intended to be comprehended within the scope of the present invention.
Claims (7)
1. An AGV trolley antiskid system is characterized in that 1 or more active control spring units are mounted on each driving wheel;
the active control spring unit comprises a driving motor, a main fixing component, a coupler, a screw rod, a spring, a sliding block and a pressure sensor; the sliding block is connected with the screw rod through threads; the spring is sleeved on the screw rod, the upper surface of the spring is connected with the bottom of the sliding block, the lower surface of the spring is connected with the connecting piece, and the spring is applied to the driving wheel through the connecting piece; the pressure sensor is arranged at the joint of the spring and the connecting piece and is in communication connection with the industrial personal computer; the driving motor is fixed on the main fixing component and is controlled by the industrial personal computer, the lead screw is driven by the coupler, and the sliding block is controlled to move up and down, so that the expansion and contraction amount of the spring is adjusted;
(1) When the AGV trolley enters a new place, different load capacities mg are applied to the AGV trolley, the active control spring units of the driving wheels are adjusted through the driving motor, the minimum positive pressure N corresponding to the active control spring units when the trolley does not slip just under each load capacity is measured, and data are recorded in the database;
(2) When the AGV trolley actually carries objects in the field, extracting the minimum positive pressure N of the corresponding active control spring unit from the database according to the actual carrying capacity; if the actual load capacity is between two load capacities recorded in the database, taking the minimum positive pressure of the active control spring unit corresponding to the larger load capacity; the industrial personal computer controls the active control spring unit to provide the minimum positive pressure;
(3) If the driving wheel still slips, the positive pressure of the driving wheel is timely adjusted through a driving motor control spring, and closed-loop control is performed;
in the step (1), the step of (a),
(101) The carrying capacity is required to be within the bearing range of the AGV trolley;
(102) Setting a threshold value sigma, when: the I v vehicle body-v driving wheel I is less than or equal to sigma, and the trolley is considered to be just not slipped;
the v car body is the car body speed of the AGV car and is measured by an Inertial Measurement Unit (IMU); v the driving wheel is the driving wheel horizontal linear speed, which is obtained by 2 pi rn, r is the driving wheel radius, n is the driving wheel motor rotating speed;
the method of closed loop control in the step (3) comprises the following steps:
(301) Calculating the horizontal linear speed v of the driving wheel according to the radius r of the driving wheel and the rotating speed n of the driving wheel;
(302) Acquiring the speed v body of the AGV trolley according to the data acquired by the IMU;
(303) Setting a threshold value Be, judging whether the I v vehicle body-V driving wheel I is smaller than or equal to the Be, and if so, not performing any control; if the driving force is larger than sigma, the motor is required to drive the suspension spring to compress downwards, and the positive pressure of the driving wheel is increased until the driving force of the vehicle body of |v-the driving wheel of v is smaller than or equal to sigma, namely, the compression is stopped.
2. The AGV trolley antiskid system of claim 1 wherein each drive wheel carries 2 active control spring units, the 2 active control spring units being symmetrically distributed.
3. The AGV cart anti-slip system of claim 1, wherein said active control spring unit further comprises a linear speed measurement device, said linear speed measurement device being connected to said industrial personal computer.
4. The AGV cart antiskid system of claim 1, wherein the linear speed measurement device comprises an inertial measurement unit IMU or a passive wheel odometer or a laser odometer.
5. The AGV cart anti-slip system of claim 1 wherein said main fixture assembly is comprised of an upper fixture plate, a lower fixture plate, and an intermediate connection plate.
6. The AGV cart anti-slip system of claim 1, wherein said connector includes a guide shaft, linear bearings, a U-shaped frame; the guide shaft is fixed on the main fixing component; the U-shaped frame is placed horizontally, the upper plate and the lower plate are provided with through holes, and the through holes are sleeved on the guide shaft to move; the linear bearing is connected with the guide shaft through a ball, and is fixed on the U-shaped frame through a nut; the bottom plate at the lower end of the U-shaped frame is connected with the spring; the U-shaped frame is connected with a driving wheel.
7. The AGV cart anti-slip system of claim 6 wherein the bearings provided by the drive wheel and the speed reducer connection shaft are provided with bearing retaining sleeves, and the U-shaped frame is connected to the bearing retaining sleeves.
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| CN201810814762.3A CN108790668B (en) | 2018-07-23 | 2018-07-23 | AGV trolley anti-skid system and anti-skid adjusting method |
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| CN201810814762.3A CN108790668B (en) | 2018-07-23 | 2018-07-23 | AGV trolley anti-skid system and anti-skid adjusting method |
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| CN109484498A (en) * | 2018-12-03 | 2019-03-19 | 浙江大华技术股份有限公司 | A kind of robotically-driven method and apparatus |
| CN111301081A (en) * | 2018-12-12 | 2020-06-19 | 沈阳新松机器人自动化股份有限公司 | Mechanical structure capable of increasing driving force |
| CN111559443B (en) * | 2019-02-13 | 2022-12-02 | 北京京东乾石科技有限公司 | Vehicle structure |
| CN110082561A (en) * | 2019-04-25 | 2019-08-02 | 苏州艾吉威机器人有限公司 | A kind of detection and its bearing calibration that AGV car body skids |
| CN113959459B (en) * | 2021-10-21 | 2024-04-12 | 重庆大学 | Wheel type robot odometer device based on magnetorheological and control method |
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