CN110304083A - A kind of track train bogie traction AGV and its control method - Google Patents
A kind of track train bogie traction AGV and its control method Download PDFInfo
- Publication number
- CN110304083A CN110304083A CN201910721763.8A CN201910721763A CN110304083A CN 110304083 A CN110304083 A CN 110304083A CN 201910721763 A CN201910721763 A CN 201910721763A CN 110304083 A CN110304083 A CN 110304083A
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- Prior art keywords
- frame
- agv
- wheel
- bogie
- expanding pulley
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
- B61D15/00—Other railway vehicles, e.g. scaffold cars; Adaptations of vehicles for use on railways
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61F—RAIL VEHICLE SUSPENSIONS, e.g. UNDERFRAMES, BOGIES OR ARRANGEMENTS OF WHEEL AXLES; RAIL VEHICLES FOR USE ON TRACKS OF DIFFERENT WIDTH; PREVENTING DERAILING OF RAIL VEHICLES; WHEEL GUARDS, OBSTRUCTION REMOVERS OR THE LIKE FOR RAIL VEHICLES
- B61F13/00—Rail vehicles characterised by wheel arrangements, not otherwise provided for
-
- 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
-
- 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
-
- 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
Abstract
The invention discloses a kind of track train bogie traction AGV and its control methods, wherein AGV: including frame, scheduling system, navigation system, control system, at least four driving wheel, at least two retractable wheel assembly and at least two close to switch, frame is horseshoe-shaped structure, and across 2 rails, driving wheel is symmetrically mounted on frame, and it is located at the outside of 2 rails, at least two retractable wheel assembly and the inside that frame is symmetrically arranged at close to switch；When pulling round frame, the expanding pulley of retractable wheel assembly stretches out, and by steering framing wheel to being limited in frame, expanding pulley and steering framing wheel offset to side, and is located at steering framing wheel to obliquely downward；After pulling round frame to target area, expanding pulley is retracted, and AGV is separated with bogie, returns to position of readiness.Above-mentioned AGV and control method can be travelled voluntarily to steering rack position, and pull round frame to target area, saved manually, improved efficiency, have had very high practicability.
Description
Technical field
The present invention relates to rail traffic vehicles apparatus for examination and repair field, in particular to a kind of track train bogie draws AGV
And its control method.
Background technique
In the maintenance process of track train bogie, bogie needs to sequentially enter different maintenance points and completes check man
Make, such as enter disassembly machinery check and repair point, carry out the work of disassembly motor, then turns to frame and operate to the progress of next maintenance point
Cleaning drying enters component disassembly maintenance point after the completion.
In bogie maintenance process, need to separate using car lifting J-Horner lifting train with bogie, the bogie after separation needs
4-5 maintenance worker is wanted to bend over to enter below train, Manual-pushing to some maintenance point；Or maintenance worker pushes away bogie
After out, pull bogie to some maintenance point using heavy hauler.In entire repair process, bogie is pushed away by manpower
Dynamic or heavy hauler moves.Manual-pushing or heavy hauler traction, require artificially to control, cumbersome；And it is heavy
Tractor is not only taken action inconvenience, and low efficiency can also occupy biggish space.
Summary of the invention
In view of the above technical problems, the present invention provides a kind of small in size, light-weight, smaller tractive force of needs to lead
Draw bogie movement, uses manpower and material resources sparingly simultaneously, the high track train bogie traction AGV of overhaul efficiency and its control method.
In order to solve the above technical problems, being led the technical solution used in the present invention is: providing a kind of track train bogie
Draw AGV, including frame, navigation system, control system, at least four driving wheel, at least two retractable wheel assembly and at least two are used
In detection steering framing wheel to relative position close to switch, the frame is horseshoe-shaped structure, and across 2 rails, the drive
Driving wheel is symmetrically installed on said frame, and is located at the outside of 2 rails, retractable wheel assembly described at least two and described close
Switch is symmetrically arranged at the inside of the frame；When pulling round frame, the expanding pulley of the retractable wheel assembly stretches out, and will turn
To frame wheel to being limited in the frame, the expanding pulley and steering framing wheel offset to side；Frame is pulled round to target area
Afterwards, the expanding pulley retracts, and AGV is separated with bogie, returns to position of readiness.
Frame in the present invention is horseshoe-shaped structure, and entire frame is greater than the width of bogie across 2 rails, width
Degree, at least four driving wheel are symmetrically mounted on frame, and are located at the outside of 2 rails, at least two retractable wheel assembly and at least 2
A inside that frame is respectively symmetrically mounted on close to switch, when pulling round frame, the open end of AGV frame turns towards on rail
Moved to frame, close to switch to steering framing wheel to detecting, by steering framing wheel to being received into frame after, frame stop to turn
Moved to frame, the expanding pulley of retractable wheel assembly stretches out, by steering framing wheel to frame notch is limited in the range of, expanding pulley with turn
To frame wheel to offseting, and it is located at steering framing wheel to obliquely downward；After pulling round frame to target area, expanding pulley bounces back to frame
Interior, AGV is separated with bogie, returns to position of readiness.Above-mentioned track train bogie traction AGV can be according to preset path voluntarily
Traveling is to rack position is turned to, and by steering framing wheel to being limited in framework, AGV height is less than the diameter of wheel pair, so that AGV vehicle
Body is smaller, can smoothly enter into and pull round frame below train, has saved manually, has had very high practicability.
Additionally provide the control method of track train bogie traction AGV a kind of, comprising the following steps:
The dispatch command that scheduling system is sent is received, is travelled by position of readiness to steering rack position along preset path；
Expanding pulley is stretched out, by steering framing wheel to being limited in frame, the expanding pulley and steering framing wheel offset to side, directly
To pulling round frame to target area；
The expanding pulley is retracted, is separated with bogie, and returns to position of readiness.
AGV in the present invention can receive the dispatch command of scheduling system, and the position of bogie, frame are driven to along preset path
The opening of frame is moved towards bogie, until steering framing wheel is stretched out expanding pulley, by steering framing wheel to limit to being accommodated in frame
It is scheduled in frame, pulls round frame to target area, expanding pulley retracts, and AGV is separated with bogie, and returns to position of readiness.On
The control method for stating track train bogie traction AGV allows AGV voluntarily to drive to steering rack position, and voluntarily traction turns
It to frame to target area, saves largely manually, and whole process is safe and reliable, there is very high practicability.
Detailed description of the invention
The present invention will be further explained below with reference to the attached drawings:
Fig. 1 is the structural schematic diagram for the embodiment that track train bogie provided by the invention draws AGV；
Fig. 2 is the side view that Fig. 1 middle orbit train bogie draws AGV；
Fig. 3 is schematic diagram when Fig. 1 middle orbit train bogie traction AGV pulls round frame；
Fig. 4 is the partial section view that Fig. 3 middle orbit train bogie draws that AGV pulls round driving；
Fig. 5 is force analysis figure when Fig. 3 middle orbit train bogie traction AGV pulls round frame；
Fig. 6 is the schematic diagram of retractable wheel assembly in Fig. 1；
Fig. 7 is the structural schematic diagram for another embodiment that track train bogie provided by the invention draws AGV；
Fig. 8 is schematic diagram when Fig. 7 middle orbit train bogie traction AGV pulls round frame；
Fig. 9 is the schematic flow chart that track train bogie draws AGV control method；
Figure 10 is schematic flow chart when expanding pulley stretches out.
Specific embodiment
The principle and features of the present invention will be described below with reference to the accompanying drawings, and the given examples are served only to explain the present invention, and
It is non-to be used to limit the scope of the invention.
As shown in Figures 1 to 6, track train bogie provided by the invention draws AGV, including frame 1, navigation system,
Control system, at least four driving wheel 5, at least two retractable wheel assembly 3 and at least two are opposite to 14 for detecting steering framing wheel
Position close to switch 2, frame 1 is horseshoe-shaped structure, and across 2 rails, driving wheel 5 is symmetrically mounted on frame 1, and position
In the outside of 2 rails, at least two retractable wheel assembly 3 and the inside that frame 1 is symmetrically arranged at close to switch 2；Traction turns
When to frame, the expanding pulley 301 of retractable wheel assembly 3 stretches out, and steering framing wheel is limited in frame 1 to 14, expanding pulley 301 and turns to
Frame wheel offsets to 14 sides；After pulling round frame to target area, expanding pulley 301 is retracted, and AGV separates with bogie, return to
It sets seat in the plane.
AGV of the present invention does not need civil engineering, is directly realized by vision guided navigation technology along track drawing bogie, by flexible
The tractive force of wheel 301 and AGV itself drives steering framing wheel to rotate to 14 jointly, and frictional force saves the traction of AGV itself
Power, the very little that AGV can be designed can gently pull round frame movement very much, while also save manpower and material resources, improve whole inspection
Repair efficiency.
Control system is fexible unit, including host computer, wireless transmitting system and scheduling system etc., for controlling driving
The operation such as rotation and steering of wheel 5, the movement such as steering and movement of Lai Shixian AGV.Control system is also used to receive close open
The signal for closing 2 feedbacks judges the suitable position whether expanding pulley 301 is located in frame 1, and then controls the stretching of expanding pulley 301；
After pulling round frame to target position, control expanding pulley 301 is retracted, and is guided AGV to return to position of readiness and charged.Scheduling
System is located in host computer, is sent and is ordered to AGV by wireless transmitting system, calculates and control the transhipment task of AGV.Scheduling system
System is for distributing task, default route, query history task to one or more AGV.Scheduling system can be multi-user login,
It can also be assigned a task by mobile terminal.
Driving wheel 5 is AGV current mechanism, including speed reducer, brake and servo motor etc., for according to scheduling system
Instruction drives the operations such as the rotation of driving wheel 5 and brake.
What AGV was selected is rechargable power supplies driving, it is necessary to carry out charging operations, the standby position of AGV to charge power supply
It installs and is equipped with recharging base, charging operations can be carried out to charge power supply after AGV returns to position of readiness.Further, may be used also
In a manner of selecting wireless charging, it is only necessary to which reaching scheduled range can charge to charge power supply.In order to more
The good AGV that facilitates works, and display screen 9, indicator light 11, loudspeaker 12, radiator 10, scram button 8 are additionally provided on frame 1
Deng display screen 9 can show currently performed dispatch command；Indicator light 11 can indicate the work shape of current AGV
State can also remind electricity；Loudspeaker 12 can prompt the staff along rail, be advanced with hiding
In AGV；Radiator 10 can radiate, to reduce the operating temperature of AGV；Scram button 8 danger can will occurring
AGV emergency stop is artificially controlled when situation.
Wireless transmitting system sends information and AGV to AGV for host computer and sends information to host computer, using transmitted in both directions
Mode.Optional wireless transmitting system is the technologies such as wifi, bluetooth, 4g, 5g.
Navigation system can be geomagnetic type, laser navigation, RFID location navigation, photo-electric, electromagnetic type, optical guidance, be used to
Property navigation, image recognition navigation (two dimensional code or other pattern identifications), radio frequency or based on the navigation such as wifi, 4g, 5g, preferably
The mode of machine vision navigation.There are two vision guided navigation modules 13, and each module includes two cameras, controllers, and vision is led
Model plane block 13 is located on frame 1 far from open at one end, and is located at the inner side and outer side of frame 1, and towards the front of rail
Or rear.It is equipped with track since the environment relative clean of maintenance point is clean and tidy, and between each maintenance point, steering framing wheel will not to 14
De-orbit operation, so the navigation of view-based access control model precision at low cost is high, and is not necessarily to civil engineering, without carrying out to existing maintenance environment
Transformation.Using existing track as identification object, vision guided navigation is realized using optical flow method, AGV row is calculated by visual odometry
The current pose of the distance and AGV walked realizes positioning, can further determine maintenance point in conjunction with the position of live track
Position.Visual odometry, which refers to through analysis processing associated image sequences, determines the position of robot and a kind of inspection of posture
Survey means.More accurate positioning can be realized by the library stereoscopic vision combination opencv3.0, but be not limited to above-mentioned implementation method.
Further, AGV further includes obstacle avoidance system, and obstacle avoidance system includes laser radar 6 and baroceptor, laser radar
6 are placed in the front of general frame 1, and whether can be used in the TIM320 laser scanner detection AGV direction of advance of sick has barrier
Hinder object, when detecting barrier, AGV halts, and is further continued for advancing after waiting barrier to remove.The lower section edge of general frame 1
Tracheary type baroceptor is installed at edge, the blind area for assisting detection laser radar 6 can't detect.Principle is when barrier touches
When to AGV, whether baroceptor changes, and will test signal in real time and be sent to host computer, stopped by PC control
The movement of AGV, until barrier is removed.
Further, it is equipped with track steering wheel on actual maintenance track, can artificially control, preferably way is by rail
The scheduling system of road steering wheel control access host computer, directly controls the rotation angle of track steering wheel during control path
Degree realizes automation control, saves to the full extent artificial.
As shown in fig. 6, retractable wheel assembly 3 further include telescopic device 302, fixed frame 303, at least 2 sliding rails 304 and with
The equal number of sliding blocks 305 of sliding rail 304,302 both ends of telescopic device are fixed with one end of expanding pulley 301 and fixed frame 303 respectively to be connected
It connects, the other end of fixed frame 303 is fixedly mounted in frame 1, and the other end of expanding pulley 301 is to the side far from telescopic device 302
To extension, the central axes of expanding pulley 301 and telescopic device 302 are vertical with perpendicular where rail, and sliding block 305 is fixedly mounted on
In frame 1, sliding rail 304 is symmetrically and fixedly mounted on telescopic device 302 along 302 extending direction of telescopic device, and slidingtype is installed
In sliding block 305.Telescopic device 302 can choose hydraulic cylinder or telescopic cylinder, and one end of telescopic device 302 is detachable solid
Dingan County is in frame 1, and one end of expanding pulley 301 is fixedly mounted on the other end of telescopic device 302, and telescopic device 302 is stretched
Outlet is stretched out, and telescopic device 302 and expanding pulley 301 is driven to move along sliding block 305 to the direction far from fixed frame 303, is stretched
Wheel 301 is pierced by the through-hole on frame 1, steering framing wheel is limited in the region of frame 1 to 14, expanding pulley 301 and steering framing wheel
It offsets to 14 side.Since retractable wheel assembly 3 is mounted on the two sides inside frame 1, after expanding pulley 301 all stretches out, realize
Restriction to two steering framing wheels to 14, can be stable pull round frame movement.
Further, retractable wheel assembly 3 further includes U-shaped fixing piece 306, and telescopic device 302 is fixedly mounted on U-shaped fixing piece
In 306, at least 2 sliding rails are detachable is symmetrically mounted on U-shaped fixing piece 306.U-shaped fixing piece 306 is facilitated to flexible dress
The installation for setting 302 is fixed, while also facilitating the maintenance and replacement to telescopic device 302.
As an embodiment, expanding pulley 301 includes fixing axle and driven wheel, and one end of fixing axle is vertically fixed
In the other end of telescopic device, driven wheel is mounted in fixing axle by bearing, and the expanding pulley 301 under retracted mode is located at frame
In 1.Further, axle sleeve is installed, axle sleeve is smooth faced metal structure, can effectively prevent the mill to axle sleeve on driven wheel
Damage, improves the service life of expanding pulley 301.Stress when wheel is to movement is as shown in figure 5, steering framing wheel stretches 14 gravity
Contracting 301 1 numerical value of wheel downward component Fy and a horizontal separation Fx, increase driving wheel 5 relative between rail ground 15
Frictional force and horizontal direction tractive force, cause draw AGV itself be not necessarily to provide very big driving force, so that it may band turn
It is rotated to frame wheel to 14.At this point, expanding pulley 301 can rotate 14 opposite directions relative to steering framing wheel, to reduce steering framing wheel
To the frictional force between 14 and expanding pulley 301.
As an embodiment, retractable wheel assembly 3 is 4, and 4 retractable wheel assemblies 3 in the same plane, and are divided equally
It is 2 groups, is symmetrically mounted on frame 1 with the retractable wheel assembly 3 in group, 2 groups of retractable wheel assemblies 3 is located at frame 1 close to opening
One end of mouth and one end of separate opening.Distance between different groups and two adjacent retractable wheel assemblies 3 is less than steering framing wheel
To 14 diameter, distance of 301 central axes of expanding pulley apart from ground is less than steering framing wheel to 14 radius, it is ensured that steering framing wheel
When in 14 storages to frame 1, between adjacent expansion wheel 301, and 2 steering framing wheels are merely able to stretch with same group to 14
Wheel 301 offsets.
Further, also it is 4 close to switch 2, is located at the surface of corresponding retractable wheel assembly 3.In steering framing wheel
When entering in frame 1 to 14, steering framing wheel is first detected to 14 signals close to switch 2 positioned at 1 outside of frame, AGV continues
It is moved to bogie direction, until outside can not detect that steering framing wheel to 14 signals, and is located inside and connecing close to switch 2
Nearly switch 2 can not also connect detection steering framing wheel to 14 signals, at this point, control AGV stop motion, 4 retractable wheel assemblies 3 stretch
Wheel 301 stretches out, by steering framing wheel to 14 be limited to different groups between expanding pulley 301 between.
Further, the form of retractable wheel assembly 3 is used close to 2 expanding pulleys 301 of open side positioned at frame 1, far
2 expanding pulleys 301 from open side are chronically at stretching state, using the above form, it is only necessary to open using fixed form
The position of the expanding pulley 301 of mouth side installs 2 or 1 reduces the cost of production close to switches 2 to a certain extent,
Also reduce the complexity of signal detection and judgement.
It as an embodiment, further include at least two auxiliary guide wheels 4, at least two auxiliary guide wheels 4 are symmetrically pacified
Mounted in the lower surface of frame 1, and it is located at the middle position of ipsilateral adjacent 2 retractable wheel assemblies 3；When pulling round frame movement, 2
Auxiliary guide wheels 4 offset to 14 lateral wall respectively at corresponding steering framing wheel, and rotate with steering framing wheel to 14.Auxiliary guiding
The setting of wheel 4, it is ensured that the stability of relative position when AGV pulls round frame movement ensure that the effect of traction.In bogie
When taking turns and entered in frame 1 to 14, and offseting with auxiliary guide wheels 4, guidance well can be played to 14 to steering framing wheel and made
With.
As an embodiment, frame 1 forms guiding close to the outside sidewall direction inclination of inner sidewall of aperture position
Curved surface.It is oriented to the setting of curved surface, plays the role of guiding, facilitates AGV and bogie is accommodated in frame 1.
As an embodiment, AGV further includes that 2 pieces of sliding shims, 7,2 pieces of sliding shims 7 distinguish detachable spiral-lock
On corresponding guiding curved surface, and will guiding curved surface package.The setting of sliding shim 7 can be effectively prevent to steering framing wheel pair
14 collide with, and preferred material is nylon, can provide smooth surface, and AGV is smoothly received steering framing wheel to 14
It is contained in the region of frame 1.
As shown in Figure 7 and Figure 8, the signal of another embodiment of AGV is drawn for track train bogie provided by the invention
Figure, device composition are identical as the track train bogie traction AGV in Fig. 1 corresponding embodiment.Frame 1 in the present embodiment is selected
Be inverted U-shaped structure or door type structure, the two sides of 1 bottom of frame are separately installed with erecting bed, retractable wheel assembly 3 and
It is symmetrically mounted on corresponding erecting bed respectively close to switch 2, at least four driving wheel 5 and auxiliary guide wheels 4 are same symmetrical
It is mounted on corresponding erecting bed.The inside of the two sides of erecting bed is provided with guiding curved surface, is oriented on curved surface and is mounted on cunning
Mobile gasket 7.Display screen 9, indicator light 11, loudspeaker 12, radiator 10, scram button 8 etc. are separately mounted to corresponding on frame 1
Position.
Frame in the present invention is horseshoe-shaped structure, and entire frame is greater than the width of bogie across a rail, width,
At least four driving wheel is symmetrically mounted on frame, and is located at the outside of 2 rails, at least two retractable wheel assembly and at least two
It is respectively symmetrically mounted on the inside of frame close to switch, when pulling round frame, the open end of AGV frame is towards the steering on rail
Frame movement, close to switch to steering framing wheel to detecting, by steering framing wheel to being received into frame after, frame stops to steering
Frame movement, the expanding pulley of retractable wheel assembly stretch out, by steering framing wheel to frame notch is limited in the range of, expanding pulley and turn to
Frame wheel is located at steering framing wheel to obliquely downward to offseting；After pulling round frame to target area, expanding pulley is bounced back in frame,
AGV is separated with bogie, returns to position of readiness.Above-mentioned track train bogie traction AGV can be according to preset path from every trade
It sails to rack position is turned to, by steering framing wheel to being limited in framework, AGV height is less than the diameter of wheel pair, so that AGV vehicle body
It is smaller, it can smoothly enter into and pull round frame below train, save manually, there is very high practicability.
As shown in figure 9, the present invention also provides the control method of track train bogie traction AGV a kind of, including it is following
Step:
The dispatch command that scheduling system is sent is received, is travelled by position of readiness to steering rack position along preset path；
Expanding pulley is stretched out, by steering framing wheel to being limited in frame, expanding pulley and steering framing wheel offset to side, until leading
Draw bogie to target area；
Expanding pulley is retracted, is separated with bogie, and return to position of readiness.
As shown in Figure 10, expanding pulley is being stretched out, further comprising the steps of by steering framing wheel to before being limited in frame:
The open end of AGV is moved towards bogie, and to bogie；
The relative position of steering framing wheel pair is detected close to switch, is stored by steering framing wheel to frame area
When, detect steering framing wheel to signal close to switch；
Continue to move to bogie, until stopping when can not detecting steering framing wheel to signal close to switch to bogie
Movement.
Since steering framing wheel is located at outside AGV frame 1 before to 14, it can not detect that steering framing wheel is believed 14 close to switch 2
Number, when moving in AGV to bogie, and gradually storing steering framing wheel to frame 1 to 14, start to detect close to switch 2
Steering framing wheel illustrates that steering framing wheel is being contained to 14 to frame 1 to 14 signals, and AGV continues to transport towards bogie direction
It is dynamic, steering framing wheel is continuously detected to 14 signals, in AGV completely by steering framing wheel in 14 storages to frame 1 close to switch 2
When, it can not detect that steering framing wheel to 14 signals, indicates that steering framing wheel has been contained to 14 to frame 1 completely again close to switch 2
Interior, AGV stops moving to bogie.Expanding pulley 301 is controlled to stretch out, in the region that steering framing wheel is limited to frame 1 to 14 after,
AGV pulls round frame and moves to target area.After reaching target area, control expanding pulley 301 is retracted, and AGV is to initial position
Movement, far from bogie, AGV returns to position of readiness.
The course of work of the invention are as follows:
The scheduling default task of host computer sends dispatch command to AGV by wireless telecommunication system, and AGV is according to pre-
If path runs to the bogie position that the specified needs of task are drawn.
Since AGV vision navigation system is according to track travel, and AGV direction of travel is adjusted in real time, make the center line of AGV
With track centerline in a perpendicular.And to guarantee that AGV can smoothly mount wheel pair, the cunning at the diagonal cut joint of AGV
Mobile gasket 7 and auxiliary guide wheels 4 all play guiding function.
It takes turns when having feedback signal close to switch 2, detecting that AGV has been arrived at expanding pulley 301 to edge
Position, wait be located at expanding pulley 301 close to 2 blackout of switch when, illustrate wheel to being located in frame 1, all expanding pulleys
301 all stretch out.
Control system of the feedback signal to AGV of work completion is mounted, what the control system of AGV was assigned according to scheduling system
Preset path corresponding to task controls AGV and starts to pull round frame along preset path to be moved to target position.
During AGV pulls round frame, obstacle avoidance system real-time detection barrier and collision, when detect barrier or
It when colliding with, stops working, works on after barrier removal.
When AGV pulls round frame by track steering wheel, the scheduling system of host computer controls track steering wheel rotation,
Track steering wheel drives AGV to rotate equal angular, and common cooperation is completed to walk on.
The scheduling that AGV in the present invention can receive scheduling system executes, and the position of bogie, frame are driven to along preset path
The opening of frame is moved towards bogie, until steering framing wheel is stretched out expanding pulley, by steering framing wheel to limit to being accommodated in frame
It is scheduled in frame, pulls round frame to target area, expanding pulley retracts, and AGV is separated with bogie, and returns to position of readiness.On
The control method for stating track train bogie traction AGV allows AGV voluntarily to drive to steering rack position, and voluntarily traction turns
It to frame to target area, saves largely manually, and whole process is safe and reliable, there is very high practicability.
Above embodiment, which is intended to illustrate the present invention, to be realized or use for professional and technical personnel in the field, to above-mentioned
Embodiment, which is modified, will be readily apparent to those skilled in the art, therefore the present invention includes but is not limited to
Above embodiment, it is any to meet the claims or specification description, meet with principles disclosed herein and novelty,
The method of inventive features, technique, product, fall within the scope of protection of the present invention.
Claims (10)
1. a kind of track train bogie draws AGV, including frame (1), scheduling system, navigation system, control system and extremely
Few 4 driving wheels (5), which is characterized in that further include at least two retractable wheel assembly (3) and at least two for detecting bogie
It takes turns to (14) relative position close to switch (2), the frame (1) is horseshoe-shaped structure, and across 2 rails, the driving
Wheel (5) is symmetrically mounted on the frame (1), and is located at the outside of 2 rails, retractable wheel assembly (3) and institute described at least two
State the inside that the frame (1) is symmetrically arranged at close to switch (2)；When pulling round frame, the retractable wheel assembly (3)
Expanding pulley (301) stretches out, and steering framing wheel is limited in the frame (1) (14), the expanding pulley (301) and steering framing wheel
It offsets to (14) side, and is located at steering framing wheel to (14) obliquely downward；After pulling round frame to target area, the expanding pulley
(301) it retracts, AGV is separated with bogie, returns to position of readiness.
2. track train bogie as described in claim 1 draws AGV, which is characterized in that the retractable wheel assembly (3) is also wrapped
Include telescopic device (302), fixed frame (303), at least 2 sliding rails (304) and with the sliding rail (304) equal number of sliding blocks
(305), telescopic device (302) both ends are fixed with one end of the expanding pulley (301) and the fixed frame (303) connect respectively
It connects, the other end of the fixed frame (303) is fixedly mounted in the frame (1), and the other end of the expanding pulley (301) is to remote
Direction from the telescopic device (302) extends, the central axes and steel of the expanding pulley (301) and the telescopic device (302)
Perpendicular where rail is vertical, and the sliding block (305) is fixedly mounted in the frame (1), and the sliding rail (304) is stretched along described
Compression apparatus (302) extending direction is symmetrically and fixedly mounted on the telescopic device (302), and is slidably mounted at the sliding block
(305) in.
3. track train bogie as claimed in claim 2 draws AGV, which is characterized in that the retractable wheel assembly (3) is also wrapped
It includes U-shaped fixing piece (306), the telescopic device (302) is fixedly mounted in the U-shaped fixing piece (306), at least described in 2
Sliding rail (304) is removably mounted on the U-shaped fixing piece (306).
4. track train bogie as described in claim 1 draws AGV, which is characterized in that the expanding pulley (301) includes solid
Dead axle and driven wheel, one end of the fixing axle are vertically fixed on the other end of the telescopic device (302), the driven wheel
It is mounted in the fixing axle by bearing, the expanding pulley (301) under retracted mode is located in the frame (1).
5. track train bogie as described in claim 1 draws AGV, which is characterized in that the retractable wheel assembly (3) is 4
A, 4 retractable wheel assemblies (3) in the same plane, and are divided into 2 groups, symmetrical with the retractable wheel assembly (3) in group
Be mounted on the frame (1), retractable wheel assembly described in 2 groups (3) be located at the frame (1) close to opening one end and
One end far from opening.
6. track train bogie as claimed in claim 5 draws AGV, which is characterized in that further include at least two auxiliary guiding
It takes turns (4), auxiliary guide wheels (4) described at least two are symmetrically mounted on the lower surface of the frame (1), and are located at ipsilateral adjacent 2
The middle position of the retractable wheel assembly (3)；When pulling round frame movement, 2 auxiliary guide wheels (4) are respectively at corresponding
Steering framing wheel offsets to the lateral wall of (14), and rotates with steering framing wheel to (14).
7. track train bogie as described in claim 1 draws AGV, which is characterized in that the frame (1) is close to opening position
The outside sidewall direction inclination of the inner sidewall set, forms guiding curved surface.
8. track train bogie as claimed in claim 7 draws AGV, which is characterized in that it further include 2 pieces of sliding shims (7),
2 pieces of sliding shims (7) respectively wrap up on the corresponding guiding curved surface, and by the guiding curved surface by spiral-lock.
9. a kind of control method of track train bogie traction AGV, which comprises the following steps:
The dispatch command that scheduling system is sent is received, is travelled by position of readiness to steering rack position along preset path；
Expanding pulley is stretched out, by steering framing wheel to being limited in frame, the expanding pulley and steering framing wheel offset to side, until leading
Draw bogie to target area；
The expanding pulley is retracted, is separated with bogie, and returns to position of readiness.
10. the control method of track train bogie traction AGV as claimed in claim 9, which is characterized in that in the stretching
Expanding pulley, further comprising the steps of by steering framing wheel to before being limited in frame:
The open end of AGV is moved towards bogie, and to bogie；
It is described that the relative position of steering framing wheel pair is detected close to switch, it stores by steering framing wheel to frame area
When, it is described to detect steering framing wheel to signal close to switch；
Continue to move to bogie, until stopping when the close switch can not detect steering framing wheel to signal to bogie
Movement.
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| CN201910721763.8A CN110304083A (en) | 2019-08-06 | 2019-08-06 | A kind of track train bogie traction AGV and its control method |
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| CN201910721763.8A CN110304083A (en) | 2019-08-06 | 2019-08-06 | A kind of track train bogie traction AGV and its control method |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110758211A (en) * | 2019-11-11 | 2020-02-07 | 北京特种机械研究所 | Automatic bogie tractor |
| TWI717095B (en) * | 2019-11-11 | 2021-01-21 | 威剛科技股份有限公司 | Autonomous mobile vehicle and autonomous mobile vehicle system |
| CN112477888A (en) * | 2020-12-07 | 2021-03-12 | 天津中德应用技术大学 | High-power locomotive bogie mobile device |
| CN113247036A (en) * | 2021-07-01 | 2021-08-13 | 大连海友高科科技有限公司 | Driving device of locomotive bogie |
| CN117383169A (en) * | 2023-04-27 | 2024-01-12 | 龙铁纵横（北京）轨道交通科技股份有限公司 | Bogie transferring method and system suitable for overhauling high-speed motor train unit |
-
2019
- 2019-08-06 CN CN201910721763.8A patent/CN110304083A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110758211A (en) * | 2019-11-11 | 2020-02-07 | 北京特种机械研究所 | Automatic bogie tractor |
| TWI717095B (en) * | 2019-11-11 | 2021-01-21 | 威剛科技股份有限公司 | Autonomous mobile vehicle and autonomous mobile vehicle system |
| CN112477888A (en) * | 2020-12-07 | 2021-03-12 | 天津中德应用技术大学 | High-power locomotive bogie mobile device |
| CN112477888B (en) * | 2020-12-07 | 2022-03-08 | 天津中德应用技术大学 | High-power locomotive bogie mobile device |
| CN113247036A (en) * | 2021-07-01 | 2021-08-13 | 大连海友高科科技有限公司 | Driving device of locomotive bogie |
| CN117383169A (en) * | 2023-04-27 | 2024-01-12 | 龙铁纵横（北京）轨道交通科技股份有限公司 | Bogie transferring method and system suitable for overhauling high-speed motor train unit |
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