CN110262475A - A kind of balance regulator and balance adjusting method of las er-guidance trolley - Google Patents
A kind of balance regulator and balance adjusting method of las er-guidance trolley Download PDFInfo
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- CN110262475A CN110262475A CN201910376332.2A CN201910376332A CN110262475A CN 110262475 A CN110262475 A CN 110262475A CN 201910376332 A CN201910376332 A CN 201910376332A CN 110262475 A CN110262475 A CN 110262475A
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Abstract
The invention discloses a kind of balance regulators of las er-guidance trolley, including small vehicle main body, trolley body upper surface is equipped with movable cargo board group, and cargo counterweight adjusting mechanism is installed in movable cargo board group, and trolley bottom part body is equipped with moving wheel carrier, the edge equilibrium mechanism for control is additionally provided with inside moving wheel carrier, liquid cargo Weight plate bottom is also equipped with suspended counterweight component, edge equilibrium mechanism and suspended counterweight component pass through balance system and are controlled, a kind of balance adjusting method of las er-guidance trolley, include the following steps: S100, detection trolley distribution of weight is simultaneously adjusted to equilibrium state；Parameter when S200, real-time detection moving of car；S300, dynamic equilibrium adjusting is carried out to trolley according to the parameter of detection, the balancing device is while rationally adjusting cargo mass distribution, by way of dynamic regulation, realizes that steering balance is adjusted, so that small vehicle main body is in stablizes driving status always, conevying efficiency and safety are improved.
Description
Technical field
The present invention relates to intelligent haulage equipment technical field, the balance regulator of specially a kind of las er-guidance trolley and
Balance adjusting method.
Background technique
Intelligent material conveying equipment refers to for the intelligence equipment that material is mobile in manufacturing shop or between workshop, carries, packet
Automatic guided vehicle (AGV), las er-guidance trolley (LGV), intelligent suspension transportation system etc. are included, intelligent storage equipment, referring to can be certainly
Dynamic storage and the intelligence equipment and system for taking out cargo, including automatic stereowarehouse and its automatic recognition system, tunnel stacking
Machine, expert system etc..
AGV is the english abbreviation of automatic guided vehicle, is referred to magnetic stripe, the homing guidances equipment such as track or laser, edge
The route planned, using battery as power, and equipment safety protection and various auxiliary bodies (such as transfer, assembly
Mechanism) unpiloted automated vehicle；Usually more AGV and control computer (console), navigation equipment, charging equipment
And periphery auxiliary device forms AGV system, main operational principle shows as the monitoring and task schedule in control computer
Under, AGV can accurately walk according to the path of regulation, after reaching task designated position, complete a series of job task, control
Computer processed can decide whether to carry out automatic charging to charging zone according to AGV self electric quantity.
Las er-guidance trolley is one of automatic guided vehicle, is mainly carried out by way of laser reflection to trolley
Guidance, general las er-guidance trolley require to be balanced adjusting, to guarantee that trolley is in equilibrium-like when movement
State.
But existing las er-guidance trolley balance regulator has the following deficiencies:
(1) general balance regulator all only carries out simple static balancing to trolley, and during the motion by
Power can change, it is easy to the case where unbalanced situation in part occur, influencing trolley state and transportation stability；
(2) and it is deposited in the cargo on trolley, since its modes of emplacement is arbitrarily to be superimposed, is easy in weight distribution
There are non-uniform situations, and the distribution of non-uniform cargo easilys lead to trolley and occurs imbalance when moving and turning to,
The situation for causing cargo to loosen or trickle down, influences handling efficiency.
Summary of the invention
In order to overcome the shortcomings of prior art, the present invention provide a kind of las er-guidance trolley balance regulator and
Balance adjusting method by way of dynamic regulation, realizes steering balance tune while rationally adjusting cargo mass distribution
Section, so that small vehicle main body is in stablizes driving status always, improves conevying efficiency and safety, can effectively solve background skill
The problem of art proposes.
The technical solution adopted by the present invention to solve the technical problems is:
A kind of balance regulator of las er-guidance trolley, including small vehicle main body, the trolley body upper surface are equipped with
Movable cargo board group, and cargo counterweight adjusting mechanism is installed in movable cargo board group, and trolley bottom part body is equipped with movement
Wheel carrier is additionally provided with the edge equilibrium mechanism for control inside the moving wheel carrier；
The activity cargo board group includes the movable accommodating groove that several are arranged in small vehicle main body, the activity accommodating groove
It is internally provided with cargo Weight plate, cargo Weight plate bottom is connected with sliding steel ball by several pressure resistant spacers, and holds
Pressure mats inside is equipped with pressure sensor, and the cargo counterweight adjusting mechanism includes be mounted on cargo Weight plate one end hydraulic
Bar, the hydraulic stem end pass through movable accommodating groove inner wall and connect with trolley body end, and cargo Weight plate bottom is also pacified
Equipped with suspended counterweight component, the edge equilibrium mechanism and suspended counterweight component pass through balance system and are controlled.
Further, the movable accommodating groove both ends are mounted on limit pedestal, and the limit pedestal inner wall connects at equal intervals
Several air pressure push rods are connected to, air pressure push rod end is connected with limit backing plate, and the limit backing plate outer wall setting is flexible
Pad.
Further, the suspended counterweight component includes the clump weight for being hinged and connected to pressure resistant spacers side, the clump weight
Bottom end is connected with shock structure, and the shock structure bottom end is connected with electromagnetism sliding block, and all electromagnetism sliding blocks are connect with moving wheel carrier.
Further, the pressure resistant spacers top is equipped with one group of movable pulley, and cargo Weight plate bottom surface is provided with one group
Smooth groove is fixedly connected between adjacent pressure resistant spacers by electric screw, and the electric screw for being located at outer end passes through connection
Seat is connect with trolley body interior.
Further, the moving wheel carrier includes center-wheel arbor, and the center-wheel arbor both ends are connected by knuckle arm
There is supporting wheel hub, one layer of smooth metal layer is provided on the center-wheel arbor, and honeycomb tyre is installed outside supporting wheel hub, institute
Stating edge equilibrium mechanism includes being mounted on the accumulator chamber of trolley body interior.
Further, several bees are evenly arranged on the honeycomb tyre filled with heavy-fluid is matched inside the accumulator chamber
Socket bore is provided with glass reinforced plastic pipeline inside the honeycomb hole, balance lead, and Plastic Steel Pipe is mounted on inside the glass reinforced plastic pipeline
Road is connect by oblique pipeline with accumulator chamber, and solenoid valve, installation inside the accumulator chamber are mounted on each oblique pipeline
There is piston plate, the piston plate top is connected with piston rod, and the piston rod runs through accumulator chamber top by sealing bearing.
Further, the balance system includes trolley attitude detection module, detection signal input module, environmental information inspection
Survey module and main control module, the trolley attitude detection module, detection signal input module, environmental information detection module with
Main control module input terminal is electrically connected, and the main control module output end is electrically connected with motor drive module, information feedback
Module and weight balancing module, the main control module output end are also connected with the alert notification module for prompting.
The present invention provides a kind of balance adjusting methods of las er-guidance trolley, include the following steps:
S100, detection trolley distribution of weight are simultaneously adjusted to equilibrium state；
Parameter when S200, real-time detection moving of car；
S300, dynamic equilibrium adjusting is carried out to trolley according to the parameter of detection.
Further, the step S100 detailed process are as follows:
The goods weight distribution on trolley is detected, and obtains distributed data information；
According to data information to progress counterweight balance adjustment inside and outside trolley；
Until goods weight reaches equilibrium state on trolley.
Further, dynamic detection adjustment process in the step S300 are as follows:
S301, the information for collecting moving of car, including speed, acceleration and local stress condition；
S302, balance system receive information, change two sides wheel hub counterweight, drive two sides motor；
S303, it detects again, until keeping equilibrium state traveling.
Compared with prior art, the beneficial effects of the present invention are:
(1) present invention needs freight using movable cargo board group placement, while utilizing cargo counterweight adjusting mechanism
Adjusting is balanced to the cargo of placement, guarantees cargo balance, is not easy to loosen when transport, and pass through internal regulation
Mode guarantees that trolley body interior is in equilibrium state；
(2) present invention is balanced adjusting to the small vehicle main body in motion state using edge equilibrium mechanism, so that laser
For guide trolleys when movement and steering, each position is in dynamic balance state always, improves small vehicle main body and transported
The stability of journey.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is balance system workflow schematic diagram of the invention；
Fig. 3 is edge equilibrium mechanism structure schematic diagram of the invention；
Fig. 4 is honeycomb tyre cross section structure schematic diagram of the invention；
Fig. 5 is balance adjusting method workflow schematic diagram of the invention.
Figure label:
The small vehicle main body of 1-；2- activity cargo board group；3- cargo counterweight adjusting mechanism；4- moving wheel carrier；5- edge equilibrium machine
Structure；6- balance system；
201- cargo Weight plate；202- pressure resistant spacers；203- slides steel ball；204- pressure sensor；205- limits pedestal；
206- air pressure push rod；207- limits backing plate；208- elastic cushion；209- activity accommodating groove；
301- hydraulic stem；302- suspended counterweight component；303- clump weight；304- shock structure；305- electromagnetism sliding block；306- is sliding
Driving wheel；307- smooth groove；308- electric screw；
401- center-wheel arbor；402- knuckle arm；403- supporting wheel hub；404- smooth metal layer；405- honeycomb tyre；
501- accumulator chamber；502- matches heavy-fluid；503- honeycomb hole；504- glass reinforced plastic pipeline；505- balances lead；506- lower oblique tube
Road；507- solenoid valve；508- piston plate；509- piston rod；510- seals bearing；
601- trolley attitude detection module；602- detects signal input module；603- environmental information detection module；604- master
Control module；605- motor drive module；606- information feedback module；607- weight balancing module；608- alert notification module.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
As shown in Figures 1 to 4, the present invention provides a kind of balance regulators of las er-guidance trolley, including small car owner
Body 1, small 1 upper surface of vehicle main body is equipped with movable cargo board group 2, and is equipped with cargo with readjustment in movable cargo board group 2
Mechanism 3 is saved, and 1 bottom of small vehicle main body is equipped with moving wheel carrier 4, and the side for control is additionally provided with inside the moving wheel carrier 4
Edge balance mechanism 5；
Movable cargo board group 2 is arranged in small vehicle main body 1 and after stack goods, can be passed through with activity adjustment
The mode of automation changes the accumulation position of cargo, so that cargo is placed more uniform steady in movable cargo board group 2, is swashing
Light guide is not in the case where cargo dissipates when drawing carriage walking.
3 one side of cargo counterweight adjusting mechanism provides power for the mobile adjusting of movable cargo board group 2, while utilizing inside
The mode of adjusting makes the counterweight inside small vehicle main body 1 more accurate, and inside and outside Mass Distribution is more uniform, while passing through inside
Uniform counterweight is not susceptible to local damage so that it when transport is jolted, internal various pieces are more uniformly stressed
It is bad, while while realizing counterweight balance adjustment, it can also be to buffer protection be played the role of inside small vehicle main body 1, effectively
Reduce effect of vibration and the effect of jolting is generated to cargo, so that cargo is more stable when transport.
Steering structure of the moving wheel carrier 4 as las er-guidance trolley plays guiding role to the movement of las er-guidance trolley,
By the Balanceregulation of edge equilibrium mechanism 5, when las er-guidance trolley is in moving condition, adjusted by balance
Section, so that small vehicle main body 1 is more stable, when turning to, so that small vehicle main body 1 tends to balance, to mobile trolley
The case where main body 1 plays stabilization, prevents cargo from loosening.
The activity cargo board group 2 includes that the movable accommodating groove 209 in small vehicle main body 1, the activity is arranged in several
Accommodating groove 209 is internally provided with cargo Weight plate 201, and 201 bottom of cargo Weight plate is connected by several pressure resistant spacers 202
It is connected to sliding steel ball 203, and pressure sensor 204 is installed inside pressure resistant spacers 202, the cargo in small vehicle main body 1 is matched
Weight plate 201 is mainly used for arrangement of goods, and while pressure resistant spacers 202 play the role of pressure-bearing, cargo Weight plate 201 is convenient for logical
Sliding steel ball 203 is crossed in movable 209 internal slide of accommodating groove, it is more convenient when cargo Weight plate 201 changes position.
It is mounted on the goods weight that the pressure sensor 204 inside pressure resistant spacers 202 is placed convenient for directly detection simultaneously, by
It is evenly distributed on 201 bottom of cargo Weight plate in multiple pressure resistant spacers 202, so that multiple pressure sensors 204 can detecte goods
The pressure at each position on object Weight plate 201, so that judgement is located at the weight of the cargo on each position of cargo Weight plate 201.
209 both ends of the activity accommodating groove are mounted on limit pedestal 205, and 205 inner wall of limit pedestal connects at equal intervals
Several air pressure push rods 206 are connected to, 206 end of air pressure push rod, which is connected with, limits backing plate 207, outside the limit backing plate 207
Wall is provided with elastic cushion 208, simultaneously as cargo Weight plate 201, which can according to need, carries out mobile adjusting, adjusts it at it
Afterwards, the position of cargo changes it is possible that unstable situation, limits cargo by limiting pedestal 205, together
Shi Liyong can be stopped with the air pressure push rod 206 of activity adjustment.
When the position of cargo changes, by pushing the air pressure push rod 206 of two sides to be moved, according to cargo
The variation of position targetedly adjusts two air pressure push rods 206, so that the limit backing plate 207 of two sides is direct and cargo side is tight
Patch, to cargo is fixed up, and the elastic cushion 208 for limiting the setting of 207 surface of backing plate can carry out elastic guarantor to cargo
Shield prevents when the fixed cargo of air pressure push rod 206, the case where excessive compression occur and damage.
And when in use, by the impetus of even air pressure push rod 206, cargo can also be directly changed and matched in cargo
Position on weight plate 201 facilitates and carries out the adjusting of cargo counterweight.
The cargo counterweight adjusting mechanism 3 includes the hydraulic stem 301 for being mounted on 201 one end of cargo Weight plate, described hydraulic
301 end of bar passes through movable 209 inner wall of accommodating groove and connect with small 1 end of vehicle main body, to cargo Weight plate 201 adjust when
It waits, by the impetus of hydraulic stem 301, so that cargo Weight plate 201 moves inside movable accommodating groove 209, to change
Cargo Weight plate 201 is adjusted in the position of movable accommodating groove 209, the counterweight for being easy to implement cargo.
201 bottom of cargo Weight plate is also equipped with suspended counterweight component 302, and the suspended counterweight component 302 includes
It is hinged and connected to the clump weight 303 of 202 side of pressure resistant spacers, 303 bottom end of clump weight is connected with shock structure 304, the damping
304 bottom end of column is connected with electromagnetism sliding block 305, and all electromagnetism sliding blocks 305 are connect with moving wheel carrier 4, due to cargo Weight plate
201 single mobile adjustings can not be adjusted to equilibrium state sometimes, the clump weight connected at this time by 202 side of pressure resistant spacers
303, which carry out counterweight again, balances, so that cargo is evenly distributed on cargo Weight plate 201.
Simultaneously after counterweight balance, the shock structure 304 of multiple 303 bottom of clump weight connections has good bumper and absorbing shock
Effect effectively reduces interference of the effect of vibration to cargo, and with pressure resistant spacers when las er-guidance trolley is mobile
202 movement, shock structure 304 can also be slided by electromagnetism sliding block 305, after sliding, logical by electromagnetism sliding block 305
It after electricity, can be fixed, to realize fixed being switched fast between sliding, operate more convenient.
202 top of pressure resistant spacers is equipped with one group of movable pulley 306, and 201 bottom surface of cargo Weight plate is provided with one group
Smooth groove 307 is fixedly connected between adjacent pressure resistant spacers 202 by electric screw 308, and is located at the electric screw of outer end
308 inside attachment base and small vehicle main body 1 by connecting, and pressure resistant spacers 202 pass through movable pulley 306 inside smooth groove 307
It slides, is mutually pushed between adjacent pressure resistant spacers 202 using electric pushrod 308, so that the position of pressure resistant spacers 202 is adjusted more
Add conveniently, while realizing reasonable counterweight balance, the position for wanting adjusting can be rapidly achieved.
The moving wheel carrier 4 includes center-wheel arbor 401, and 401 both ends of center-wheel arbor pass through knuckle arm 402 and connect
There is supporting wheel hub 403, one layer of smooth metal layer 404 is provided on the center-wheel arbor 401, and install outside supporting wheel hub 403
There is honeycomb tyre 405, when las er-guidance trolley is mobile, relies primarily on two supporting wheel hubs 403 and power, and two are provided
A supporting wheel hub 403 is driven using individual driving motor, can effectively increase the driving force of entire trolley, while also just
It is turned in effective.
Further, in the present solution, supporting wheel hub 403 using honeycomb tyre 405, since honeycomb tyre 405 is adopted
It is cellular structure design, does not need to inflate, while realizing locomotive function, remains the damping, buffering energy of tire
Power, and it is less prone to the case where gas leakage is blown out, it can fast move, greatly improve entire in different operating environments
The mobile stability of small vehicle main body 1.
The edge equilibrium mechanism 5 includes being mounted on accumulator chamber 501 inside small vehicle main body 1, inside the accumulator chamber 501
Filled with heavy-fluid 502 is matched, it is evenly arranged with several honeycomb holes 503 on the honeycomb tyre 405, inside the honeycomb hole 503
It is provided with glass reinforced plastic pipeline 504, balance lead 505 is mounted on inside the glass reinforced plastic pipeline 504, and glass reinforced plastic pipeline 504 passes through
Oblique pipeline 506 is connect with accumulator chamber 501, and solenoid valve 507, the accumulator chamber 501 are mounted on each oblique pipeline 506
Inside is equipped with piston plate 508, and 508 top of piston plate is connected with piston rod 509, and the piston rod 509 passes through sealing axis
510 are held through 501 top of accumulator chamber.
It is balanced adjusting by supporting wheel hub 403 of the edge equilibrium mechanism 5 to small 1 two sides of vehicle main body, guarantees small car owner
Body 1 can maintain supporting wheel hub 403 and 404 uniform quality of honeycomb tyre and uniform force when movement and steering always,
To realize the dynamic equilibrium of trolley.
When specific works, detection is balanced to honeycomb tyre 405 first, it is reasonable to determine inside glass reinforced plastic pipeline 504
The size and suitable installation site of lead 505 are balanced, guarantees that honeycomb tyre 405 keeps balance when high-speed rotation, into one
Step, when small vehicle main body 1 needs to turn to, since stress is inconsistent when turning to for two honeycomb tyres 405, detection
The stress condition at each position of honeycomb tyre 405 distributes the different location of honeycomb tyre 405 according to different stress conditions
Different matches heavy-fluid 502, so that counterweight increases at the biggish position of stress, keeps stablizing.
When specific operation, by the impetus of piston rod 509 make piston plate 508 inside the accumulator chamber 501 on move down
Dynamic, piston plate 508 under hydraulic action with the generation of heavy-fluid 502 squeezing action with heavy-fluid 502 to dividing inside accumulator chamber 501
Not Chuan Guo multiple oblique pipelines 506 enter glass reinforced plastic pipeline 504, and according to the various pieces stress for detecting honeycomb tyre 405
Situation, select different location need counterweight with heavy-fluid 502, its corresponding solenoid valve 507 is opened, so that can be with heavy-fluid 502
It is accurately flowed into inside corresponding glass reinforced plastic pipeline 504, to realize that the dynamic equilibrium of honeycomb tyre 405 is adjusted, is balanced in counterweight
Open solenoid valve 507 is closed later, prevents from flowing back with heavy-fluid 502.
And when small vehicle main body 1 is completed to turn to, the stress of various pieces is returned to original position, first will at this time
Piston rod 509 is accepted, so that piston plate 508 is replied, the solenoid valve 507 closed before opening simultaneously, so that the counterweight of outflow
Liquid 502 can back flow into again inside accumulator chamber 501, so that the edge of entire small vehicle main body 1 reaches equilibrium state,
It is adjusted convenient for the Fast-Balance of next time.
The edge equilibrium mechanism 5 and suspended counterweight component 302 are controlled by balance system 6, are by balance
System 6 realizes balance adjustment, so that edge equilibrium mechanism 5 and the automation of the balance adjustment of suspended counterweight component 302 carry out, improves
The accuracy and rapidity of balance adjustment.
The balance system 6 includes trolley attitude detection module 601, detection signal input module 602, environmental information detection
Module 603 and main control module 604, the trolley attitude detection module 601, detection signal input module 602, environmental information inspection
It surveys module 603 to be electrically connected with 604 input terminal of main control module, 604 output end of main control module is electrically connected with electricity
Machine drive module 605, information feedback module 606 and weight balancing module 607,604 output end of main control module are also connected with
There is the alert notification module 608 for prompting.
Motion conditions and edge stress condition of the trolley attitude detection module 601 mainly for detection of small vehicle main body 1, trolley
That attitude detection module 601 is selected is the MPU-6050 of InvenSense company, the U.S., and MPU-6050 is the first conformability 6 in the whole world
Axis movement processor incorporates 3 axis gyroscopes and 3 axis accelerometers, can accurately be measured in real time to the posture of trolley,
Accurately detect the motion state of small vehicle main body 1, the angular speed sensing range of the processor be ± 250, ± 500, ± 1000 with ±
2000 °/s, acceleration sensing range is ± 2g, ± 4g, ± 8g and ± 16g, and acceleration sensing range can be controlled by programming.
MPU-6050 can work under different voltages, VDD supply voltage be (2.5 ± 0.125) V, (3.0 ± 0.15) V or (3.3 ±
0.165) V provides 3.3V DC power supply for MPU-6050 in this system.
Pressure sensor of the trolley attitude detection module 601 also by being mounted on small 1 local edge location of vehicle main body simultaneously
Stress detection is carried out, the stress condition of small 1 marginal position of vehicle main body is accurately analyzed, facilitates and carries out subsequent balance adjustment.
Detect the mainly motion state current to small vehicle main body 1 by way of external analysis point of signal input module 602
Analysis, obtains external detection data, convenient for carrying out analysis comparison with the data directly detected, determines optimal motion information.
Meanwhile environmental information detection module 603 is mainly to detect the current institute of small vehicle main body 1 by each sensor of installation
Locate environment, so that the environmental impact factor that the small vehicle main body 1 of reasonable analysis is subject to, mainly includes aerial temperature and humidity, air velocity, gas
Flow the factors such as direction.
And since the gyroscope of trolley attitude detection module 601 is vulnerable to the influence such as vibration, temperature and destabilizing moment, it generates
Drift error, due to integral action, its measurement error can be increasing when counting of carriers posture inclination angle, and accelerometer measures
It is linear movement, exports acceleration signal, velocity variations are faster, and output valve is bigger, and accelerometer can be obtained by triangular transformation
With the angle of gravity direction, accelerometer does not have cumulative errors, but accelerometer is interfered vulnerable to vibration, therefore, is only individually made
Trolley posture is measured with gyroscope or accelerometer, it is difficult to ensure that the accuracy and reliability of measurement result, and block
Kalman Filtering is a kind of preferable sensor data fusion algorithm, and this programme is using Kalman filtering algorithm to accelerometer and top
Spiral shell instrument institute measured data optimizes processing, the dynamic error of compensated acceleration meter and the drift error of gyroscope, and precision can be obtained
With reliability higher trolley posture inclination angle.
Kalman filtering algorithm is a set of recurrence estimation algorithm with Minimum Mean Squared Error estimation, algorithm core concept:
Using the state equation of signal and deviation, the measured value of the estimated value and current state that are obtained using previous state is updated to shape
The prediction and estimation of state variable finally acquire the optimal estimation value of current state.
Kalman filtering process can be divided into status predication and measurement two processes of amendment, and status predication equation is in time by preceding
The system mode and Noise Variance Estimation at one moment go out current time system mode；Measurement update equation will then measure at current time
Value bonding state predicts the current estimated state that process obtains to obtain system optimal estimated value.
After the signal of detection is transferred to main control module 604, handled by 604 analysis of main control module, herein
Controller selects STC12C5608AD microcontroller, which is that a high-performance of the newest release of macrocrystalline company is enhanced
8051MCU, instruction system and traditional 8051 single-chip microcontrollers are completely compatible, and the speed of service is 6~12 times of traditional 8051 single-chip microcontrollers,
It is internally integrated 768BRAM, has 8 tunnels high speed, 12 A/D conversions, while can provide the PWM output of 8,4 tunnel, STC12C5608AD
Hardware resource abundant and high-speed computation performance, so that system hardware circuit is simple, high reliablity, by master controller
STC12C5608AD completes that the data acquisition and procession of gyroscope, accelerometer and photoelectric encoder is obtained trolley posture and inclined
Then angle controls motor drive module 605, edge equilibrium mechanism 5 and suspended counterweight component 302, realizes the pose adjustment of trolley,
It is finally reached the autobalance state of trolley.
The design of direct current generator drive module uses the L298N group of ST company in 605 this system of motor drive module herein
At dual H-bridge motor-drive circuit, which has driving capability strong, the features such as calorific value is low, strong antijamming capability, Ke Yitong
When drive 2 direct current generators, after enable end ENA and ENB are enabled, the one of electricity of pwm signal driving that is inputted from IN1, IN2
The revolving speed of machine and direction, the pwm signal inputted from IN3, IN4 drive revolving speed and the direction of another motor, two motors
Driving will not have an impact independently of each other, to improve the accuracy of balance adjustment.
Further, main control module 604 also outputs signals to information feedback module 606, weight balancing module 607 respectively
With alert notification module 608, information feedback module 606 is used to transmit the current information of small vehicle main body 1 and balance adjustment information
To outside, and weight balancing module 607 is mainly used for driving activity cargo board group 2 and carries out the adjusting of cargo counterweight, and external goods
Object counterweight is adjusted and the internal balance of suspended counterweight component 302 adjusting be combined with each other, and realizes the whole machine balancing of small vehicle main body 1, and
Edge equilibrium mechanism 5 is balanced adjusting to small 1 marginal position of vehicle main body, can keep during the movement of small vehicle main body 1
Dynamic balance state.
And alert notification module 608 can play the role of prompting and alarm when small vehicle main body 1 is mobile, when
Trolley is reminded or is alarmed in time when being in non-equilibrium state, in order to which small vehicle main body reduces speed.
As shown in figure 5, including the following steps: the present invention provides a kind of balance adjusting method of las er-guidance trolley
S100, detection trolley distribution of weight are simultaneously adjusted to equilibrium state, carry out weight by the external cargo placed first
Detection balances the distribution of weight of cargo in the case where artificial heap accumulates in deviation.
The step S100 detailed process are as follows:
The goods weight distribution on trolley is detected by pressure sensor 204, and obtains distribution goods weight data information,
It determines weight distribution information of the cargo in small vehicle main body 1, is convenient for subsequent adjustment process；
According to data information to counterweight balance adjustment is carried out inside and outside trolley, cargo is on the one hand pushed by air pressure push rod 206
It carries out position adjusting and on the other hand the distribution of cargo is changed by direct mobile cargo Weight plate 201, to improve cargo
The uniformity of distribution realizes the balance adjustment of cargo；
Change the method for salary distribution of cargo by way of constantly regulate, until goods weight reaches equilibrium state on trolley.
Parameter when S200, real-time detection moving of car, the parameter of detection mainly include movement velocity, acceleration, surrounding
The parameters such as environmental parameter, local pressure situation；
S300, dynamic equilibrium adjusting is carried out to trolley according to the parameter of detection.
Dynamic detection adjustment process in the step S300 are as follows:
S301, the information for collecting moving of car, including speed, acceleration and local stress condition, while considering outside
The influence that environmental factor generates moving of car；
S302, balance system receive information, change two sides wheel hub counterweight according to detection information, and respectively drive two sides electricity
Machine carries out different degrees of adjusting, guarantees that steering procedure is more stable；
S303, it detects again, until keeping equilibrium state traveling, when the movement of small vehicle main body 1, remains detection
State realizes that dynamic equilibrium is adjusted.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
Claims (10)
1. a kind of balance regulator of las er-guidance trolley, it is characterised in that: including small vehicle main body (1), the small vehicle main body
(1) upper surface is equipped with movable cargo board group (2), and is equipped with cargo counterweight adjusting mechanism (3) on movable cargo board group (2),
And small vehicle main body (1) bottom is equipped with moving wheel carrier (4), and the edge for control is additionally provided with inside the moving wheel carrier (4)
Balance mechanism (5)；
The activity cargo board group (2) includes the movable accommodating groove (209) that several are arranged on small vehicle main body (1), the work
Dynamic accommodating groove (209) are internally provided with cargo Weight plate (201), and cargo Weight plate (201) bottom passes through several pressure-bearings
Liner (202) is connected with sliding steel ball (203), and is equipped with pressure sensor (204), the goods inside pressure resistant spacers (202)
Object counterweight adjusting mechanism (3) includes the hydraulic stem (301) for being mounted on cargo Weight plate (201) one end, hydraulic stem (301) end
End is connect across movable accommodating groove (209) inner wall with small vehicle main body (1) end, and cargo Weight plate (201) bottom is also installed
Have suspended counterweight component (302), the edge equilibrium mechanism (5) and suspended counterweight component (302) by balance system (6) into
Row control.
2. a kind of balance regulator of las er-guidance trolley according to claim 1, it is characterised in that: the activity is received
Receiving slot (209) both ends is mounted on limit pedestal (205), and limit pedestal (205) inner wall is connected with several gas at equal intervals
It presses push rod (206), air pressure push rod (206) end is connected with limit backing plate (207), and limit backing plate (207) outer wall is set
It is equipped with elastic cushion (208).
3. a kind of balance regulator of las er-guidance trolley according to claim 1, it is characterised in that: the suspension is matched
Recombination part (302) includes the clump weight (303) for being hinged and connected to pressure resistant spacers (202) side, clump weight (303) the bottom end connection
Have shock structure (304), shock structure (304) bottom end is connected with electromagnetism sliding block (305), and all electromagnetism sliding blocks (305) with
Moving wheel carrier (4) connection.
4. a kind of balance regulator of las er-guidance trolley according to claim 1, it is characterised in that: the pressure-bearing lining
Pad (202) top is equipped with one group of movable pulley (306), and cargo Weight plate (201) bottom surface is provided with one group of smooth groove
(307), it is fixedly connected between adjacent pressure resistant spacers (202) by electric screw (308), and is located at the electric screw of outer end
(308) by being connect inside attachment base and small vehicle main body (1).
5. a kind of balance regulator of las er-guidance trolley according to claim 1, it is characterised in that: the movable pulley
Frame (4) includes center-wheel arbor (401), and center-wheel arbor (401) both ends pass through knuckle arm (402) and are connected with supporting wheel hub
(403), it is provided with one layer of smooth metal layer (404) on the center-wheel arbor (401), and is equipped with outside supporting wheel hub (403)
Honeycomb tyre (405), the edge equilibrium mechanism (5) include being mounted on the internal accumulator chamber (501) of small vehicle main body (1).
6. a kind of balance regulator of las er-guidance trolley according to claim 5, it is characterised in that: the accumulator chamber
(501) internal filled with heavy-fluid (502) are matched, several honeycomb holes (503), institute are evenly arranged on the honeycomb tyre (405)
It states and is provided with glass reinforced plastic pipeline (504) inside honeycomb hole (503), be mounted on balance lead inside the glass reinforced plastic pipeline (504)
(505), and glass reinforced plastic pipeline (504) is connect by oblique pipeline (506) with accumulator chamber (501), on each oblique pipeline (506)
It is mounted on solenoid valve (507), is equipped with piston plate (508) inside the accumulator chamber (501), piston plate (508) top
It is connected with piston rod (509), the piston rod (509) runs through accumulator chamber (501) top by sealing bearing (510).
7. a kind of balance regulator of las er-guidance trolley according to claim 1, it is characterised in that: the balance system
System (6) include trolley attitude detection module (601), detection signal input module (602), environmental information detection module (603) and
Main control module (604), the trolley attitude detection module (601), detection signal input module (602), environmental information detection
Module (603) is electrically connected with main control module (604) input terminal, and main control module (604) output end is electrically connected
There are motor drive module (605), information feedback module (606) and weight balancing module (607), the main control module (604)
Output end is also connected with the alert notification module (608) for prompting.
8. a kind of balance adjusting method of las er-guidance trolley, characterized by the following steps:
S100, detection trolley distribution of weight are simultaneously adjusted to equilibrium state；
Parameter when S200, real-time detection moving of car；
S300, dynamic equilibrium adjusting is carried out to trolley according to the parameter of detection.
9. a kind of balance adjusting method of las er-guidance trolley according to claim 8, it is characterised in that: the step
S100 detailed process are as follows:
The goods weight distribution on trolley is detected, and obtains distributed data information；
According to data information to progress counterweight balance adjustment inside and outside trolley；
Until goods weight reaches equilibrium state on trolley.
10. a kind of balance adjusting method of las er-guidance trolley according to claim 8, it is characterised in that: the step
Dynamic detection adjustment process in S300 are as follows:
S301, the information for collecting moving of car, including speed, acceleration and local stress condition；
S302, balance system receive information, change two sides wheel hub counterweight, drive two sides motor；
S303, it detects again, until keeping equilibrium state traveling.
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| CN201910376332.2A CN110262475A (en) | 2019-05-07 | 2019-05-07 | A kind of balance regulator and balance adjusting method of las er-guidance trolley |
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| EP3831716A1 (en) * | 2019-12-02 | 2021-06-09 | AEROSNIP GmbH & Co. KG | Installation weight for a trolley and its use in aircraft |
| CN115303164A (en) * | 2022-10-11 | 2022-11-08 | 徐州市江山新型建材有限公司 | Cement pier road transportation trailer with emergency risk avoiding function |
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Application publication date: 20190920 |